diff --git a/.clang-format b/.clang-format index b41fae9129e43..cd54eb45dde50 100644 --- a/.clang-format +++ b/.clang-format @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format Language: Cpp BasedOnStyle: Google diff --git a/.clang-tidy-ignore b/.clang-tidy-ignore new file mode 100644 index 0000000000000..f10528128dce6 --- /dev/null +++ b/.clang-tidy-ignore @@ -0,0 +1 @@ +*/examples/* diff --git a/.cspell.json b/.cspell.json index 2d024a5ca589d..f3bf484f68e0c 100644 --- a/.cspell.json +++ b/.cspell.json @@ -4,5 +4,5 @@ "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**" ], "ignoreRegExpList": [], - "words": ["dltype", "tvmgen", "fromarray", "soblin"] + "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54", "libtensorrt"] } diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6ac99a0243921..7403da173eb13 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -5,7 +5,8 @@ common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.sait common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp +common/autoware_glog_component/** takamasa.horibe@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp @@ -13,12 +14,10 @@ common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yu common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai -common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp -common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp common/autoware_polar_grid/** yukihiro.saito@tier4.jp +common/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp @@ -29,20 +28,8 @@ common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4. common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp -common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp -common/glog_component/** takamasa.horibe@tier4.jp -common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp -common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp -common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp -common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp -common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp -common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai -common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp -common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp -common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp -control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_autonomous_emergency_braking/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@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 @@ -173,8 +160,8 @@ planning/behavior_path_planner/autoware_behavior_path_planner_common/** alqudah. planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp @@ -210,8 +197,8 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +sensing/autoware_vehicle_velocity_converter/** ryu.yamamoto@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp -sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp simulator/fault_injection/** keisuke.shima@tier4.jp @@ -245,6 +232,18 @@ vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tana vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp -visualization/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp +visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai +visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai +visualization/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp +visualization/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp +visualization/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp +visualization/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp +visualization/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp +visualization/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp +visualization/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp +visualization/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai +visualization/tier4_system_rviz_plugin/** koji.minoda@tier4.jp +visualization/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp +visualization/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp ### Copied from .github/CODEOWNERS-manual ### diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a857998a0b2..5c74f7c5e4d9c 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c24a7b25..deccbf336f6a3 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f507405..58307325ce402 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 0264c035357bd..8fd9b7f4ae0a5 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions diff --git a/.github/stale.yml b/.github/stale.yml index bc99e4383cafd..ffce036c8d047 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index e70d3daf88509..4c09e072766fa 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,55 +1,48 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - - source: CODE_OF_CONDUCT.md - - source: CONTRIBUTING.md - - source: DISCLAIMER.md - - source: LICENSE - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - source: .github/dependabot.yaml + - source: .github/pull_request_template_complex.md + dest: .github/pull_request_template.md - source: .github/stale.yml - source: .github/workflows/cancel-previous-workflows.yaml + - source: .github/workflows/check-build-depends.yaml + - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: .github/workflows/clang-tidy-pr-comments-manually.yaml + - source: .github/workflows/comment-on-pr.yaml + - source: .github/workflows/delete-closed-pr-docs.yaml + - source: .github/workflows/deploy-docs.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/pre-commit-optional-autoupdate.yaml + - source: .github/workflows/pre-commit-autoupdate.yaml - source: .github/workflows/semantic-pull-request.yaml - source: .github/workflows/spell-check-differential.yaml pre-commands: | sd " with:\n" " with:\n local-cspell-json: .cspell.json\n" {source} - - source: .github/workflows/spell-check-differential.yaml - dest: .github/workflows/spell-check-daily.yaml + - source: .github/workflows/spell-check-daily.yaml pre-commands: | - sd "spell-check-differential" "spell-check-daily" {source} - sd " with:\n" " with:\n local-cspell-json: .cspell.json\n incremental-files-only: false\n" {source} - sd "on:\n pull_request:\n" "on:\n schedule:\n - cron: 0 0 * * *\n workflow_dispatch:\n" {source} + sd " with:\n" " with:\n local-cspell-json: .cspell.json\n" {source} - source: .github/workflows/sync-files.yaml + - source: .github/workflows/update-codeowners-from-packages.yaml + - source: docs/assets/js/mathjax.js - source: .clang-format - source: .markdown-link-check.json - source: .markdownlint.yaml - source: .pre-commit-config-optional.yaml + - source: .pre-commit-config.yaml - source: .prettierignore - source: .prettierrc.yaml - source: .yamllint.yaml + - source: CODE_OF_CONDUCT.md + - source: CONTRIBUTING.md - source: CPPLINT.cfg - - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - - source: .github/workflows/clang-tidy-differential.yaml - pre-commands: | - sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {source} - - source: .github/workflows/check-build-depends.yaml - - source: .github/workflows/clang-tidy-pr-comments.yaml - - source: .github/workflows/clang-tidy-pr-comments-manually.yaml - - source: .github/workflows/update-codeowners-from-packages.yaml - - source: .pre-commit-config.yaml - - source: codecov.yaml - -- repository: autowarefoundation/autoware-documentation - files: - - source: .github/workflows/deploy-docs.yaml - - source: .github/workflows/delete-closed-pr-docs.yaml + - source: DISCLAIMER.md + - source: LICENSE - source: mkdocs-base.yaml dest: mkdocs.yaml pre-commands: | @@ -63,4 +56,4 @@ " - macros" \ " - macros: module_name: mkdocs_macros" {source} - - source: docs/assets/js/mathjax.js + - source: setup.cfg diff --git a/.github/workflows/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml new file mode 100644 index 0000000000000..53f40f1e811ab --- /dev/null +++ b/.github/workflows/beta-to-tier4-main-sync.yaml @@ -0,0 +1,34 @@ +name: beta-to-tier4-main-sync + +on: + workflow_dispatch: + inputs: + source_branch: + description: Source branch + required: true + type: string + +jobs: + sync-beta-branch: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/main + sync-pr-branch: beta-to-tier4-main-sync + sync-target-repository: https://github.com/tier4/autoware.universe.git + sync-target-branch: ${{ inputs.source_branch }} + pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main" + pr-labels: | + bot + sync-beta-branch + auto-merge-method: merge diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml index 63822f8b1e093..b2612f2fcd1f0 100644 --- a/.github/workflows/build-and-test-daily.yaml +++ b/.github/workflows/build-and-test-daily.yaml @@ -5,9 +5,13 @@ on: - cron: 0 0 * * * workflow_dispatch: +env: + CC: /usr/lib/ccache/gcc + CXX: /usr/lib/ccache/g++ + jobs: build-and-test-daily: - runs-on: [self-hosted, linux, X64, gpu] + runs-on: [self-hosted, Linux, X64] container: ${{ matrix.container }}${{ matrix.container-suffix }} strategy: fail-fast: false @@ -30,6 +34,9 @@ jobs: - name: Show disk space before the tasks run: df -h + - name: Show machine specs + run: lscpu && free -h + - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -37,6 +44,33 @@ jobs: id: get-self-packages uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + - name: Create ccache directory + run: | + mkdir -p ${CCACHE_DIR} + du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Attempt to restore ccache + uses: actions/cache/restore@v4 + with: + path: | + /root/.ccache + key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }} + restore-keys: | + ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- + + - name: Limit ccache size + run: | + rm -f "${CCACHE_DIR}/ccache.conf" + echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf" + shell: bash + + - name: Show ccache stats before build and reset stats + run: | + du -sh ${CCACHE_DIR} && ccache -s + ccache --zero-stats + shell: bash + - name: Export CUDA state as a variable for adding to cache key run: | build_type_cuda_state=nocuda @@ -56,6 +90,10 @@ jobs: build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} + - name: Show ccache stats after build + run: du -sh ${CCACHE_DIR} && ccache -s + shell: bash + - name: Test if: ${{ steps.get-self-packages.outputs.self-packages != '' }} id: test diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 871fc67499f48..f62904b03c6e4 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -27,29 +27,58 @@ jobs: with: label: tag:require-cuda-build-and-test - build-and-test-differential: + prepare-build-and-test-differential: + runs-on: ubuntu-latest needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present] - if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} - runs-on: ${{ matrix.runner }} - container: ${{ matrix.container }}${{ matrix.container-suffix }} - strategy: - fail-fast: false - matrix: - rosdistro: - - humble - container-suffix: - - "" - - -cuda - include: - - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:universe-devel - build-depends-repos: build_depends.repos - - container-suffix: -cuda - runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large - build-pre-command: taskset --cpu-list 0-5 - - container-suffix: "" - runner: ubuntu-latest - build-pre-command: "" + outputs: + cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }} + steps: + - name: Check if cuda-build is required + id: check-if-cuda-build-is-required + run: | + if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then + echo "cuda-build is required" + echo "cuda_build=true" >> $GITHUB_OUTPUT + else + echo "cuda-build is not required" + echo "cuda_build=false" >> $GITHUB_OUTPUT + fi + shell: bash + - name: Fail if the tag:run-build-and-test-differential is missing + if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }} + run: exit 1 + + build-and-test-differential: + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware:universe-devel + needs: prepare-build-and-test-differential + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + shell: bash + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Run build-and-test-differential action + uses: ./.github/actions/build-and-test-differential + with: + rosdistro: humble + container: ghcr.io/autowarefoundation/autoware:universe-devel + container-suffix: "" + runner: ubuntu-latest + build-depends-repos: build_depends.repos + build-pre-command: "" + codecov-token: ${{ secrets.CODECOV_TOKEN }} + + build-and-test-differential-cuda: + runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda + needs: prepare-build-and-test-differential + if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }} steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" @@ -62,19 +91,63 @@ jobs: fetch-depth: ${{ env.PR_FETCH_DEPTH }} - name: Run build-and-test-differential action - if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }} uses: ./.github/actions/build-and-test-differential with: - rosdistro: ${{ matrix.rosdistro }} - container: ${{ matrix.container }} - container-suffix: ${{ matrix.container-suffix }} - runner: ${{ matrix.runner }} - build-depends-repos: ${{ matrix.build-depends-repos }} - build-pre-command: ${{ matrix.build-pre-command }} + rosdistro: humble + container: ghcr.io/autowarefoundation/autoware:universe-devel + container-suffix: -cuda + runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + build-depends-repos: build_depends.repos + build-pre-command: taskset --cpu-list 0-5 codecov-token: ${{ secrets.CODECOV_TOKEN }} clang-tidy-differential: - needs: build-and-test-differential + needs: [build-and-test-differential, prepare-build-and-test-differential] + if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }} + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware:universe-devel + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Get changed files (existing files only) + id: get-changed-files + run: | + echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT + shell: bash + + - name: Run clang-tidy + if: ${{ steps.get-changed-files.outputs.changed-files != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci + clang-tidy-ignore-path: .clang-tidy-ignore + build-depends-repos: build_depends.repos + cache-key-element: cuda + + - name: Show disk space after the tasks + run: df -h + + clang-tidy-differential-cuda: + needs: build-and-test-differential-cuda runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: @@ -109,8 +182,8 @@ jobs: with: rosdistro: humble target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - target-files: ${{ steps.get-changed-files.outputs.changed-files }} clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci + clang-tidy-ignore-path: .clang-tidy-ignore build-depends-repos: build_depends.repos cache-key-element: cuda diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 3ffa5ebdbd29d..6b3886f124a44 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -16,7 +16,7 @@ env: jobs: build-and-test: - runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + runs-on: [self-hosted, Linux, X64] container: ${{ matrix.container }}${{ matrix.container-suffix }} strategy: fail-fast: false diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index bd2463d5a8eea..ee79ce0e4d41c 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: cancel-previous-workflows on: diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 74c97e3bf4be4..bb1d89851dea6 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: check-build-depends on: @@ -20,7 +24,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml index a4df9f9dec3ed..747c62cdcd5a3 100644 --- a/.github/workflows/clang-tidy-pr-comments-manually.yaml +++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: clang-tidy-pr-comments-manually on: diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml index bf2ed81d7ae48..c8df6a62c9a0a 100644 --- a/.github/workflows/clang-tidy-pr-comments.yaml +++ b/.github/workflows/clang-tidy-pr-comments.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: clang-tidy-pr-comments on: diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml index c80141ddac6b0..3fba91f6ea3dc 100644 --- a/.github/workflows/comment-on-pr.yaml +++ b/.github/workflows/comment-on-pr.yaml @@ -1,6 +1,15 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: comment-on-pr + on: - pull_request_target: + pull_request: + types: + - opened + branches: + - beta/v0.[0-9]+.[1-9]+ jobs: comment-on-pr: @@ -8,18 +17,15 @@ jobs: permissions: pull-requests: write steps: - - name: Check out repository - uses: actions/checkout@v4 - - - name: Initial PR comment - uses: marocchino/sticky-pull-request-comment@v2 - with: - message: | - Thank you for contributing to the Autoware project! - - 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). - - Please ensure: - - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). - - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). - - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). + - name: Create comments + run: | + cat << EOF > comments + ### Merging guidelines for the beta branch + Please use `Squash and merge` as the default. + However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history. + EOF + - name: Post comments + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + URL: ${{ github.event.pull_request.html_url }} + run: gh pr comment -F ./comments "${URL}" diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml index 192e138a83c22..b8ff4f6d14599 100644 --- a/.github/workflows/delete-closed-pr-docs.yaml +++ b/.github/workflows/delete-closed-pr-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: delete-closed-pr-docs on: diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml index 771b4bd36ca9d..d39e97e540794 100644 --- a/.github/workflows/deploy-docs.yaml +++ b/.github/workflows/deploy-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: deploy-docs on: diff --git a/.github/workflows/dispatch-push-event.yaml b/.github/workflows/dispatch-push-event.yaml new file mode 100644 index 0000000000000..492083c8038f6 --- /dev/null +++ b/.github/workflows/dispatch-push-event.yaml @@ -0,0 +1,45 @@ +name: dispatch-push-event +on: + push: + +jobs: + search-dispatch-repo: + runs-on: ubuntu-latest + strategy: + matrix: + include: + - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve } + outputs: + dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }} + steps: + - name: Search dispatch repo + id: search-dispatch-repo + run: | + if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then + echo ::set-output name=value::"${{ matrix.dispatch-repo }}" + echo "Detected beta branch: ${{ github.ref_name }}" + echo "Dispatch repository: ${{ matrix.dispatch-repo }}" + fi + + dispatch-push-event: + runs-on: ubuntu-latest + needs: search-dispatch-repo + if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }} + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.INTERNAL_APP_ID }} + private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }} + + # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。 + - name: Dispatch the update-beta-branch workflow + run: | + curl -L \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \ + -d '{"ref":"main"}' diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml new file mode 100644 index 0000000000000..0245e2b929cd8 --- /dev/null +++ b/.github/workflows/dispatch-release-note.yaml @@ -0,0 +1,46 @@ +name: dispatch-release-note +on: + push: + branches: + - beta/v* + - tier4/main + tags: + - v* + workflow_dispatch: + inputs: + beta-branch-or-tag-name: + description: The name of the beta branch or tag to write release note + type: string + required: true +jobs: + dispatch-release-note: + runs-on: ubuntu-latest + name: release-repository-dispatch + steps: + - name: Set tag name + id: set-tag-name + run: | + if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then + REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" + else + REF_NAME="${{ github.ref_name }}" + fi + echo ::set-output name=ref-name::"$REF_NAME" + echo ::set-output name=tag-name::"${REF_NAME#beta/}" + + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Repository dispatch for release note + run: | + curl \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ + -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 4b1d7f47c6c0c..bbe2ac512d70d 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml index 5cd0845b3d9b4..a60e65ccf7b32 100644 --- a/.github/workflows/pr-agent.yaml +++ b/.github/workflows/pr-agent.yaml @@ -17,7 +17,7 @@ jobs: permissions: issues: write pull-requests: write - contents: write + contents: read name: Run pr agent on every pull request, respond to user comments steps: - name: PR Agent action step @@ -35,6 +35,7 @@ jobs: config.model_turbo: gpt-4o config.max_model_tokens: 64000 pr_code_suggestions.max_context_tokens: 12000 + # cSpell:ignore commitable pr_code_suggestions.commitable_code_suggestions: true pr_reviewer.enable_review_labels_effort: false pr_reviewer.enable_review_labels_security: false diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml index 8d57a53b5ccab..489e32a1de166 100644 --- a/.github/workflows/pre-commit-autoupdate.yaml +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-autoupdate on: diff --git a/.github/workflows/pre-commit-optional-autoupdate.yaml b/.github/workflows/pre-commit-optional-autoupdate.yaml new file mode 100644 index 0000000000000..be79ad481d16e --- /dev/null +++ b/.github/workflows/pre-commit-optional-autoupdate.yaml @@ -0,0 +1,41 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: pre-commit-optional-autoupdate + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-optional-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-22.04 + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config-optional.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-optional-autoupdate + pr-title: "ci(pre-commit-optional): autoupdate" + pr-commit-message: "ci(pre-commit-optional): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 12f536c551646..3d0867028f76a 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 4d005e849b5ec..15c8e86c4f950 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c224ec0f..b56040b084f0c 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/slack-send.yaml b/.github/workflows/slack-send.yaml new file mode 100644 index 0000000000000..973b08674f7e8 --- /dev/null +++ b/.github/workflows/slack-send.yaml @@ -0,0 +1,25 @@ +name: slack-send +on: + workflow_run: + workflows: + - build-and-test + types: + - completed + +jobs: + on-failure: + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Send to Slack workflow + uses: slackapi/slack-github-action@v1 + with: + payload: | + { + "workflow-url": "${{ github.event.workflow_run.html_url }}" + } + env: + SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }} diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml index 8c0373594a90e..696963ff11cfd 100644 --- a/.github/workflows/spell-check-daily.yaml +++ b/.github/workflows/spell-check-daily.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-daily on: @@ -18,3 +22,6 @@ jobs: local-cspell-json: .cspell.json incremental-files-only: false cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index 3542659332532..81e3309365e9b 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-differential on: @@ -14,4 +18,7 @@ jobs: uses: autowarefoundation/autoware-github-actions/spell-check@v1 with: local-cspell-json: .cspell.json - cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml new file mode 100644 index 0000000000000..950e27aae5504 --- /dev/null +++ b/.github/workflows/sync-awf-latest.yaml @@ -0,0 +1,26 @@ +name: sync-awf-latest + +on: + schedule: + - cron: 50 */1 * * * # every 1 hour (**:50) + workflow_dispatch: + +jobs: + sync-awf-latest: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + with: + token: ${{ secrets.TOKEN_TO_MODIFY_WOKFLOW }} + fetch-depth: 0 + - name: Commit Results + run: | + git config --local user.email "action@github.com" + git config --local user.name "GitHub Action" + + git checkout awf-latest + git remote add awf https://github.com/autowarefoundation/autoware.universe + git fetch awf main + git rebase awf/main + + git push origin awf-latest --force diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index 0cffbcd2a269f..9224c1503ed22 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000000..978ae00a06e20 --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,49 @@ +name: sync-upstream + +on: + workflow_dispatch: + inputs: + target_branch: + description: Target branch + required: true + type: string + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - uses: actions/setup-node@v3 + with: + node-version: 16 + + - run: npm install @holiday-jp/holiday_jp + + - uses: actions/github-script@v6 + id: is-holiday + with: + script: | + const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`) + core.setOutput('holiday', holiday_jp.isHoliday(new Date())); + - name: Print warning for invalid branch name + if: ${{ inputs.target_branch == 'tier4/main' }} + run: | + echo This action cannot be performed on 'tier4/main' branch + + - name: Run sync-branches + if: ${{ inputs.target_branch != 'tier4/main' }} + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: ${{ inputs.target_branch }} + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/tier4/autoware.universe.git + sync-target-branch: awf-latest + pr-title: "chore: sync tier4/autoware.universe:awf-latest" + auto-merge-method: merge diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 760a647ffbf56..c9ecdb100688f 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: update-codeowners-from-packages on: diff --git a/.markdownlint.yaml b/.markdownlint.yaml index 7b7359fe0cdc4..584154b2009de 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index 8c9345e15f064..ff325af5e8774 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check rev: v3.12.2 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 63dc504f61a2b..6e7c64fd982fc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,9 +1,13 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + ci: autofix_commit_msg: "style(pre-commit): autofix" repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict @@ -18,7 +22,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.41.0 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -49,7 +53,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.9.0-1 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] @@ -60,26 +64,26 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 24.8.0 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.8 + rev: v19.1.4 hooks: - id: clang-format types_or: [c++, c, cuda] - repo: https://github.com/cpplint/cpplint - rev: 1.6.1 + rev: 2.0.0 hooks: - id: cpplint args: [--quiet] exclude: .cu - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.29.2 + rev: 0.30.0 hooks: - id: check-metaschema files: ^.+/schema/.*schema\.json$ @@ -93,3 +97,9 @@ repos: language: node files: .svg$ additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index a3c34d00a1377..3e96aacebba60 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,2 +1,6 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf32762769..fe476936f7b9e 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088e2648..e0be62dbcb16f 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | diff --git a/CPPLINT.cfg b/CPPLINT.cfg index ba6bdf08c10ca..159042dba0b48 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -1,12 +1,18 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 set noparent linelength=100 includeorder=standardcfirst filter=-build/c++11 # we do allow C++11 +filter=-build/c++17 # we allow filter=-build/namespaces_literals # we allow using namespace for literals filter=-runtime/references # we consider passing non-const references to be ok filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/newline # we allow the developer to decide about newline at the end of file (it's clashing with clang-format) filter=-whitespace/parens # we allow closing parenthesis to be on the next line filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit diff --git a/build_depends.repos b/build_depends.repos index 61a56463e2e41..4db947b7c26a8 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -24,7 +24,7 @@ repositories: core/autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git - version: 1.1.0 + version: 1.3.0 core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git diff --git a/common/.pages b/common/.pages index 27ee85c30ea77..3c5a77c4d68cf 100644 --- a/common/.pages +++ b/common/.pages @@ -10,8 +10,8 @@ nav: - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - 'Geography Utils': common/autoware_geography_utils - - 'Global Parameter Loader': common/global_parameter_loader/Readme - - 'Glog Component': common/glog_component + - 'Global Parameter Loader': common/autoware_global_parameter_loader/Readme + - 'Glog Component': common/autoware_glog_component - 'interpolation': common/autoware_interpolation - 'Kalman Filter': common/autoware_kalman_filter - 'Motion Utils': common/autoware_motion_utils diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst index f94b51d97f949..7693074353d9f 100644 --- a/common/autoware_adapi_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -1,6 +1,52 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_ad_api_specs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_adapi_specs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_adapi_specs/package.xml b/common/autoware_adapi_specs/package.xml index a949084dd8789..5424d5bad52d5 100644 --- a/common/autoware_adapi_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -2,7 +2,7 @@ autoware_adapi_specs - 0.38.0 + 0.40.0 The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst index 271ecb7badb38..63f0fe2ac83e3 100644 --- a/common/autoware_auto_common/CHANGELOG.rst +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_auto_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index 1a462ee9db7ac..ccdcd4bab8608 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -2,7 +2,7 @@ autoware_auto_common - 0.38.0 + 0.40.0 Miscellaneous helper functions Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst index 68a4eaaa2f36b..43590966602d2 100644 --- a/common/autoware_component_interface_specs/CHANGELOG.rst +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_component_interface_specs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dd1c300a7a2ca..aeb09e44c665f 100644 --- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -17,14 +17,14 @@ #include -#include +#include namespace autoware::component_interface_specs::map { struct MapProjectorInfo { - using Message = tier4_map_msgs::msg::MapProjectorInfo; + using Message = autoware_map_msgs::msg::MapProjectorInfo; static constexpr char name[] = "/map/map_projector_info"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml index b50cd80074d1f..4bbe62e7e9701 100644 --- a/common/autoware_component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_specs - 0.38.0 + 0.40.0 The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito @@ -12,6 +12,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_vehicle_msgs @@ -21,7 +22,6 @@ rosidl_runtime_cpp tier4_control_msgs tier4_localization_msgs - tier4_map_msgs tier4_planning_msgs tier4_system_msgs tier4_vehicle_msgs diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst index d04567161c80d..b17fa431b27bb 100644 --- a/common/autoware_component_interface_tools/CHANGELOG.rst +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_component_interface_tools ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix missing namespaces in C++ code (`#9477 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 96514517e1574..e38b048e22ebe 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_tools - 0.38.0 + 0.40.0 The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index d27f4b4558bbc..d19e72f19e469 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -1,6 +1,47 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package component_interface_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml index f1902d159e818..0bc51ee211d50 100755 --- a/common/autoware_component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_utils - 0.38.0 + 0.40.0 The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp index 7cf2dccf3e764..6919271214983 100644 --- a/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp +++ b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp @@ -17,6 +17,10 @@ #include "autoware/component_interface_utils/status.hpp" #include "gtest/gtest.h" +#include +#include +#include + TEST(interface, utils) { { diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst index 096c44f41ed77..5bc3669a5aa27 100644 --- a/common/autoware_fake_test_node/CHANGELOG.rst +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -1,6 +1,33 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package fake_test_node -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_fake_test_node +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix package names in changelog files (`#9500 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml index 413f359eafbcc..0ae881e4a41ba 100644 --- a/common/autoware_fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -2,7 +2,7 @@ autoware_fake_test_node - 0.38.0 + 0.40.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_geography_utils/CHANGELOG.rst b/common/autoware_geography_utils/CHANGELOG.rst deleted file mode 100644 index 623861bbd01c3..0000000000000 --- a/common/autoware_geography_utils/CHANGELOG.rst +++ /dev/null @@ -1,15 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_geography_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) - * refactor(geography_utils): prefix package and namespace with autoware - * move headers to include/autoware/ - --------- -* Contributors: Esteve Fernandez, Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- diff --git a/common/autoware_geography_utils/CMakeLists.txt b/common/autoware_geography_utils/CMakeLists.txt deleted file mode 100644 index b4ab5c2f74494..0000000000000 --- a/common/autoware_geography_utils/CMakeLists.txt +++ /dev/null @@ -1,37 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_geography_utils) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -# GeographicLib -find_package(PkgConfig) -find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h - PATH_SUFFIXES GeographicLib -) -set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR}) -find_library(GeographicLib_LIBRARIES NAMES Geographic) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/height.cpp - src/projection.cpp - src/lanelet2_projector.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${GeographicLib_LIBRARIES} -) - -if(BUILD_TESTING) - find_package(ament_cmake_ros REQUIRED) - - file(GLOB_RECURSE test_files test/*.cpp) - - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files}) - - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ) -endif() - -ament_auto_package() diff --git a/common/autoware_geography_utils/README.md b/common/autoware_geography_utils/README.md deleted file mode 100644 index fb4c2dc3a8312..0000000000000 --- a/common/autoware_geography_utils/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# geography_utils - -## Purpose - -This package contains geography-related functions used by other packages, so please refer to them as needed. diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp deleted file mode 100644 index 1f205eb8f8b18..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ - -#include - -namespace autoware::geography_utils -{ - -typedef double (*HeightConversionFunction)( - const double height, const double latitude, const double longitude); -double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude); -double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude); -double convert_height( - const double height, const double latitude, const double longitude, - const std::string & source_vertical_datum, const std::string & target_vertical_datum); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp deleted file mode 100644 index 7f6b2d78701d2..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ - -#include - -#include - -#include - -namespace autoware::geography_utils -{ -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; - -std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp deleted file mode 100644 index 5ad605f95f65b..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ - -#include -#include -#include - -namespace autoware::geography_utils -{ -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; -using GeoPoint = geographic_msgs::msg::GeoPoint; -using LocalPoint = geometry_msgs::msg::Point; - -LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info); -GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_geography_utils/package.xml deleted file mode 100644 index d8ea7524eaebc..0000000000000 --- a/common/autoware_geography_utils/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - autoware_geography_utils - 0.38.0 - The autoware_geography_utils package - Yamato Ando - Masahiro Sakamoto - NGUYEN Viet Anh - Taiki Yamada - Shintaro Sakoda - Ryu Yamamoto - Apache License 2.0 - Koji Minoda - - ament_cmake_auto - autoware_cmake - - autoware_lanelet2_extension - geographic_msgs - geographiclib - geometry_msgs - lanelet2_io - tier4_map_msgs - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/common/autoware_geography_utils/src/height.cpp b/common/autoware_geography_utils/src/height.cpp deleted file mode 100644 index 745dbf5b22cfc..0000000000000 --- a/common/autoware_geography_utils/src/height.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -#include -#include -#include -#include - -namespace autoware::geography_utils -{ - -double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude) -{ - GeographicLib::Geoid egm2008("egm2008-1"); - // cSpell: ignore ELLIPSOIDTOGEOID - return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::ELLIPSOIDTOGEOID); -} - -double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude) -{ - GeographicLib::Geoid egm2008("egm2008-1"); - // cSpell: ignore GEOIDTOELLIPSOID - return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::GEOIDTOELLIPSOID); -} - -double convert_height( - const double height, const double latitude, const double longitude, - const std::string & source_vertical_datum, const std::string & target_vertical_datum) -{ - if (source_vertical_datum == target_vertical_datum) { - return height; - } - std::map, HeightConversionFunction> conversion_map; - conversion_map[{"WGS84", "EGM2008"}] = convert_wgs84_to_egm2008; - conversion_map[{"EGM2008", "WGS84"}] = convert_egm2008_to_wgs84; - - auto key = std::make_pair(source_vertical_datum, target_vertical_datum); - if (conversion_map.find(key) != conversion_map.end()) { - return conversion_map[key](height, latitude, longitude); - } else { - std::string error_message = - "Invalid conversion types: " + std::string(source_vertical_datum.c_str()) + " to " + - std::string(target_vertical_datum.c_str()); - - throw std::invalid_argument(error_message); - } -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/lanelet2_projector.cpp b/common/autoware_geography_utils/src/lanelet2_projector.cpp deleted file mode 100644 index 7de0935a3aa4e..0000000000000 --- a/common/autoware_geography_utils/src/lanelet2_projector.cpp +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include - -#include - -namespace autoware::geography_utils -{ - -std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info) -{ - if (projector_info.projector_type == MapProjectorInfo::LOCAL_CARTESIAN_UTM) { - lanelet::GPSPoint position{ - projector_info.map_origin.latitude, projector_info.map_origin.longitude, - projector_info.map_origin.altitude}; - lanelet::Origin origin{position}; - lanelet::projection::UtmProjector projector{origin}; - return std::make_unique(projector); - - } else if (projector_info.projector_type == MapProjectorInfo::MGRS) { - lanelet::projection::MGRSProjector projector{}; - projector.setMGRSCode(projector_info.mgrs_grid); - return std::make_unique(projector); - - } else if (projector_info.projector_type == MapProjectorInfo::TRANSVERSE_MERCATOR) { - lanelet::GPSPoint position{ - projector_info.map_origin.latitude, projector_info.map_origin.longitude, - projector_info.map_origin.altitude}; - lanelet::Origin origin{position}; - lanelet::projection::TransverseMercatorProjector projector{origin}; - return std::make_unique(projector); - } - const std::string error_msg = - "Invalid map projector type: " + projector_info.projector_type + - ". Currently supported types: MGRS, LocalCartesianUTM, and TransverseMercator"; - throw std::invalid_argument(error_msg); -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/projection.cpp b/common/autoware_geography_utils/src/projection.cpp deleted file mode 100644 index 3ab18b1d31698..0000000000000 --- a/common/autoware_geography_utils/src/projection.cpp +++ /dev/null @@ -1,95 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include - -namespace autoware::geography_utils -{ - -Eigen::Vector3d to_basic_point_3d_pt(const LocalPoint src) -{ - Eigen::Vector3d dst; - dst.x() = src.x; - dst.y() = src.y; - dst.z() = src.z; - return dst; -} - -LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info) -{ - std::unique_ptr projector = get_lanelet2_projector(projector_info); - lanelet::GPSPoint position{geo_point.latitude, geo_point.longitude, geo_point.altitude}; - - lanelet::BasicPoint3d projected_local_point; - if (projector_info.projector_type == MapProjectorInfo::MGRS) { - const int mgrs_precision = 9; // set precision as 100 micro meter - const auto mgrs_projector = dynamic_cast(projector.get()); - - // project x and y using projector - // note that the altitude is ignored in MGRS projection conventionally - projected_local_point = mgrs_projector->forward(position, mgrs_precision); - } else { - // project x and y using projector - // note that the original projector such as UTM projector does not compensate for the altitude - // offset - projected_local_point = projector->forward(position); - - // correct z based on the map origin - // note that the converted altitude in local point is in the same vertical datum as the geo - // point - projected_local_point.z() = geo_point.altitude - projector_info.map_origin.altitude; - } - - LocalPoint local_point; - local_point.x = projected_local_point.x(); - local_point.y = projected_local_point.y(); - local_point.z = projected_local_point.z(); - - return local_point; -} - -GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info) -{ - std::unique_ptr projector = get_lanelet2_projector(projector_info); - - lanelet::GPSPoint projected_gps_point; - if (projector_info.projector_type == MapProjectorInfo::MGRS) { - const auto mgrs_projector = dynamic_cast(projector.get()); - // project latitude and longitude using projector - // note that the z is ignored in MGRS projection conventionally - projected_gps_point = - mgrs_projector->reverse(to_basic_point_3d_pt(local_point), projector_info.mgrs_grid); - } else { - // project latitude and longitude using projector - // note that the original projector such as UTM projector does not compensate for the altitude - // offset - projected_gps_point = projector->reverse(to_basic_point_3d_pt(local_point)); - - // correct altitude based on the map origin - // note that the converted altitude in local point is in the same vertical datum as the geo - // point - projected_gps_point.ele = local_point.z + projector_info.map_origin.altitude; - } - - GeoPoint geo_point; - geo_point.latitude = projected_gps_point.lat; - geo_point.longitude = projected_gps_point.lon; - geo_point.altitude = projected_gps_point.ele; - return geo_point; -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/test/test_geography_utils.cpp b/common/autoware_geography_utils/test/test_geography_utils.cpp deleted file mode 100644 index ee0e7428db2f2..0000000000000 --- a/common/autoware_geography_utils/test/test_geography_utils.cpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/geography_utils/height.hpp" -#include "autoware/geography_utils/lanelet2_projector.hpp" -#include "autoware/geography_utils/projection.hpp" - -#include - -int main(int argc, char * argv[]) -{ - testing::InitGoogleTest(&argc, argv); - bool result = RUN_ALL_TESTS(); - return result; -} diff --git a/common/autoware_geography_utils/test/test_height.cpp b/common/autoware_geography_utils/test/test_height.cpp deleted file mode 100644 index f624f6c3ff9e3..0000000000000 --- a/common/autoware_geography_utils/test/test_height.cpp +++ /dev/null @@ -1,86 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include - -// Test case to verify if same source and target datums return original height -TEST(GeographyUtils, SameSourceTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - const std::string datum = "WGS84"; - - double converted_height = - autoware::geography_utils::convert_height(height, latitude, longitude, datum, datum); - - EXPECT_DOUBLE_EQ(height, converted_height); -} - -// Test case to verify valid source and target datums -TEST(GeographyUtils, ValidSourceTargetDatum) -{ - // Calculated with - // https://www.unavco.org/software/geodetic-utilities/geoid-height-calculator/geoid-height-calculator.html - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - const double target_height = -30.18; - - double converted_height = - autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008"); - - EXPECT_NEAR(target_height, converted_height, 0.1); -} - -// Test case to verify invalid source and target datums -TEST(GeographyUtils, InvalidSourceTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"), - std::invalid_argument); -} - -// Test case to verify invalid source datums -TEST(GeographyUtils, InvalidSourceDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"), - std::invalid_argument); -} - -// Test case to verify invalid target datums -TEST(GeographyUtils, InvalidTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"), - std::invalid_argument); -} diff --git a/common/autoware_geography_utils/test/test_projection.cpp b/common/autoware_geography_utils/test/test_projection.cpp deleted file mode 100644 index 3355dbf8a50ea..0000000000000 --- a/common/autoware_geography_utils/test/test_projection.cpp +++ /dev/null @@ -1,161 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include - -TEST(GeographyUtilsProjection, ProjectForwardToMGRS) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // target point - geometry_msgs::msg::Point local_point; - local_point.x = 86128.0; - local_point.y = 43002.0; - local_point.z = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geometry_msgs::msg::Point converted_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - - EXPECT_NEAR(converted_point.x, local_point.x, 1.0); - EXPECT_NEAR(converted_point.y, local_point.y, 1.0); - EXPECT_NEAR(converted_point.z, local_point.z, 1.0); -} - -TEST(GeographyUtilsProjection, ProjectReverseFromMGRS) -{ - // source point - geometry_msgs::msg::Point local_point; - local_point.x = 86128.0; - local_point.y = 43002.0; - local_point.z = 10.0; - - // target point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geographic_msgs::msg::GeoPoint converted_point = - autoware::geography_utils::project_reverse(local_point, projector_info); - - EXPECT_NEAR(converted_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_point.altitude, geo_point.altitude, 0.0001); -} - -TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geometry_msgs::msg::Point converted_local_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - const geographic_msgs::msg::GeoPoint converted_geo_point = - autoware::geography_utils::project_reverse(converted_local_point, projector_info); - - EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_geo_point.altitude, geo_point.altitude, 0.0001); -} - -TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62406; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // target point - geometry_msgs::msg::Point local_point; - local_point.x = 0.0; - local_point.y = -22.18; - local_point.z = 20.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - projector_info.map_origin.latitude = 35.62426; - projector_info.map_origin.longitude = 139.74252; - projector_info.map_origin.altitude = -10.0; - - // conversion - const geometry_msgs::msg::Point converted_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - - EXPECT_NEAR(converted_point.x, local_point.x, 1.0); - EXPECT_NEAR(converted_point.y, local_point.y, 1.0); - EXPECT_NEAR(converted_point.z, local_point.z, 1.0); -} - -TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; - projector_info.map_origin.latitude = 35.0; - projector_info.map_origin.longitude = 139.0; - projector_info.map_origin.altitude = 0.0; - - // conversion - const geometry_msgs::msg::Point converted_local_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - const geographic_msgs::msg::GeoPoint converted_geo_point = - autoware::geography_utils::project_reverse(converted_local_point, projector_info); - - EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_geo_point.altitude, geo_point.altitude, 0.0001); -} diff --git a/common/global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst similarity index 75% rename from common/global_parameter_loader/CHANGELOG.rst rename to common/autoware_global_parameter_loader/CHANGELOG.rst index ae5dfd0509592..d778018320271 100644 --- a/common/global_parameter_loader/CHANGELOG.rst +++ b/common/autoware_global_parameter_loader/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package global_parameter_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/autoware_global_parameter_loader/CMakeLists.txt similarity index 77% rename from common/global_parameter_loader/CMakeLists.txt rename to common/autoware_global_parameter_loader/CMakeLists.txt index e67ae1a5c06fc..fe47ffc0c845b 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/autoware_global_parameter_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(global_parameter_loader) +project(autoware_global_parameter_loader) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/global_parameter_loader/Readme.md b/common/autoware_global_parameter_loader/Readme.md similarity index 83% rename from common/global_parameter_loader/Readme.md rename to common/autoware_global_parameter_loader/Readme.md index 53cb9e11e096f..7b818c26a87f2 100644 --- a/common/global_parameter_loader/Readme.md +++ b/common/autoware_global_parameter_loader/Readme.md @@ -8,7 +8,7 @@ Add the following lines to the launch file of the node in which you want to get ```xml - + ``` diff --git a/common/global_parameter_loader/launch/global_params.launch.py b/common/autoware_global_parameter_loader/launch/global_params.launch.py similarity index 100% rename from common/global_parameter_loader/launch/global_params.launch.py rename to common/autoware_global_parameter_loader/launch/global_params.launch.py diff --git a/common/global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml similarity index 80% rename from common/global_parameter_loader/package.xml rename to common/autoware_global_parameter_loader/package.xml index 64183edaa6b1a..8238e5852284f 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/autoware_global_parameter_loader/package.xml @@ -1,9 +1,9 @@ - global_parameter_loader - 0.38.0 - The global_parameter_loader package + autoware_global_parameter_loader + 0.40.0 + The autoware_global_parameter_loader package Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst new file mode 100644 index 0000000000000..e9176b6524049 --- /dev/null +++ b/common/autoware_glog_component/CHANGELOG.rst @@ -0,0 +1,56 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package glog_component +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(glog): add initialization check (`#6792 `_) +* Contributors: Takamasa Horibe, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(glog): add glog in planning and control modules (`#4714 `_) + * feat(glog): add glog component + * formatting + * remove namespace + * remove license + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update common/glog_component/CMakeLists.txt + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update launch/tier4_control_launch/launch/control.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * add copyright + --------- + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* Contributors: Takamasa Horibe diff --git a/common/autoware_glog_component/CMakeLists.txt b/common/autoware_glog_component/CMakeLists.txt new file mode 100644 index 0000000000000..37e2862517bc1 --- /dev/null +++ b/common/autoware_glog_component/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_glog_component) + +find_package(autoware_cmake REQUIRED) +autoware_package() + + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/glog_component.cpp +) +target_link_libraries(${PROJECT_NAME} glog::glog) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::glog_component::GlogComponent" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package() diff --git a/common/glog_component/README.md b/common/autoware_glog_component/README.md similarity index 88% rename from common/glog_component/README.md rename to common/autoware_glog_component/README.md index 94a40fe32e40d..ae8d8e5b9b8f2 100644 --- a/common/glog_component/README.md +++ b/common/autoware_glog_component/README.md @@ -10,8 +10,8 @@ When you load the `glog_component` in container, the launch file can be like bel ```py glog_component = ComposableNode( - package="glog_component", - plugin="GlogComponent", + package="autoware_glog_component", + plugin="autoware::glog_component::GlogComponent", name="glog_component", ) diff --git a/common/glog_component/include/glog_component/glog_component.hpp b/common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp similarity index 75% rename from common/glog_component/include/glog_component/glog_component.hpp rename to common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp index d940363d75ac4..8e0a45d4e32c8 100644 --- a/common/glog_component/include/glog_component/glog_component.hpp +++ b/common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp @@ -12,17 +12,22 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GLOG_COMPONENT__GLOG_COMPONENT_HPP_ -#define GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +#ifndef AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +#define AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ #include #include +namespace autoware::glog_component +{ + class GlogComponent : public rclcpp::Node { public: explicit GlogComponent(const rclcpp::NodeOptions & node_options); }; -#endif // GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +} // namespace autoware::glog_component + +#endif // AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ diff --git a/common/glog_component/package.xml b/common/autoware_glog_component/package.xml similarity index 83% rename from common/glog_component/package.xml rename to common/autoware_glog_component/package.xml index a9e7cdf54fd5a..eab95fa8944d3 100644 --- a/common/glog_component/package.xml +++ b/common/autoware_glog_component/package.xml @@ -1,9 +1,9 @@ - glog_component - 0.38.0 - The glog_component package + autoware_glog_component + 0.40.0 + The autoware_glog_component package Takamasa Horibe Apache License 2.0 diff --git a/common/glog_component/src/glog_component.cpp b/common/autoware_glog_component/src/glog_component.cpp similarity index 81% rename from common/glog_component/src/glog_component.cpp rename to common/autoware_glog_component/src/glog_component.cpp index 7fd9c923d23c9..cddfd206668be 100644 --- a/common/glog_component/src/glog_component.cpp +++ b/common/autoware_glog_component/src/glog_component.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "glog_component/glog_component.hpp" +#include "autoware/glog_component/glog_component.hpp" + +namespace autoware::glog_component +{ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) : Node("glog_component", node_options) @@ -23,5 +26,7 @@ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) } } +} // namespace autoware::glog_component + #include -RCLCPP_COMPONENTS_REGISTER_NODE(GlogComponent) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::glog_component::GlogComponent) diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst index 4b38ad848193b..df190270e02ab 100644 --- a/common/autoware_goal_distance_calculator/CHANGELOG.rst +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_goal_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml index 4ad84b9f4f283..903d77515f262 100644 --- a/common/autoware_goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_goal_distance_calculator - 0.38.0 + 0.40.0 The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst index ee66753285b0e..7a1b19b90a958 100644 --- a/common/autoware_grid_map_utils/CHANGELOG.rst +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_grid_map_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml index 40c1ba7c96e87..bf89abc507173 100644 --- a/common/autoware_grid_map_utils/package.xml +++ b/common/autoware_grid_map_utils/package.xml @@ -2,7 +2,7 @@ autoware_grid_map_utils - 0.38.0 + 0.40.0 Utilities for the grid_map library Maxime CLEMENT Apache License 2.0 diff --git a/common/autoware_grid_map_utils/src/polygon_iterator.cpp b/common/autoware_grid_map_utils/src/polygon_iterator.cpp index d3c5de85c2ed2..47ff9a9e5957f 100644 --- a/common/autoware_grid_map_utils/src/polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/src/polygon_iterator.cpp @@ -21,6 +21,7 @@ #include #include #include +#include namespace autoware::grid_map_utils { diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst index fbba411fcdeca..37fc48c525a49 100644 --- a/common/autoware_interpolation/CHANGELOG.rst +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_interpolation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml index e94ec898cb0cb..3bad757405ed4 100644 --- a/common/autoware_interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -2,7 +2,7 @@ autoware_interpolation - 0.38.0 + 0.40.0 The spline interpolation package Fumiya Watanabe Takayuki Murooka diff --git a/common/autoware_interpolation/src/spherical_linear_interpolation.cpp b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp index 697dda3b06770..5acdf6a9036a3 100644 --- a/common/autoware_interpolation/src/spherical_linear_interpolation.cpp +++ b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp @@ -14,6 +14,8 @@ #include "autoware/interpolation/spherical_linear_interpolation.hpp" +#include + namespace autoware::interpolation { geometry_msgs::msg::Quaternion slerp( diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst index becf8dc95abec..a7e68f8843e74 100644 --- a/common/autoware_kalman_filter/CHANGELOG.rst +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_kalman_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml index a3c454795344b..e51bb06e9de43 100644 --- a/common/autoware_kalman_filter/package.xml +++ b/common/autoware_kalman_filter/package.xml @@ -2,7 +2,7 @@ autoware_kalman_filter - 0.38.0 + 0.40.0 The kalman filter package Yukihiro Saito Takeshi Ishita diff --git a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp index 31c1c768d7173..4d1dd8f33b7a6 100644 --- a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp +++ b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp @@ -14,6 +14,8 @@ #include "autoware/kalman_filter/time_delay_kalman_filter.hpp" +#include + namespace autoware::kalman_filter { TimeDelayKalmanFilter::TimeDelayKalmanFilter() diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst index 84374fb8a3f26..187ddda4acd39 100644 --- a/common/autoware_motion_utils/CHANGELOG.rst +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -2,6 +2,125 @@ Changelog for package autoware_motion_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yukinari Hisaki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 6fbe84927a9e3..029985a53f020 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -2,7 +2,7 @@ autoware_motion_utils - 0.38.0 + 0.40.0 The autoware_motion_utils package Satoshi Ota Takayuki Murooka diff --git a/common/autoware_motion_utils/src/distance/distance.cpp b/common/autoware_motion_utils/src/distance/distance.cpp index d31e7ec709810..c218561beacec 100644 --- a/common/autoware_motion_utils/src/distance/distance.cpp +++ b/common/autoware_motion_utils/src/distance/distance.cpp @@ -14,6 +14,8 @@ #include "autoware/motion_utils/distance/distance.hpp" +#include + namespace autoware::motion_utils { namespace diff --git a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp index f85b5b26cd0c2..7f12e2972ec86 100644 --- a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp @@ -14,6 +14,8 @@ #include +#include + namespace autoware::motion_utils { void SteeringFactorInterface::set( diff --git a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp index 6a1ddff453bd0..cfa3c91eac43e 100644 --- a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp @@ -19,6 +19,9 @@ #include #include +#include +#include + namespace autoware::motion_utils { template diff --git a/common/autoware_motion_utils/src/marker/marker_helper.cpp b/common/autoware_motion_utils/src/marker/marker_helper.cpp index 29462afcb5b76..91ad1c41eecc3 100644 --- a/common/autoware_motion_utils/src/marker/marker_helper.cpp +++ b/common/autoware_motion_utils/src/marker/marker_helper.cpp @@ -20,6 +20,8 @@ #include +#include + using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createDeletedDefaultMarker; using autoware::universe_utils::createMarkerColor; diff --git a/common/autoware_motion_utils/src/resample/resample.cpp b/common/autoware_motion_utils/src/resample/resample.cpp index 88ebf3f41c408..9e736444495fa 100644 --- a/common/autoware_motion_utils/src/resample/resample.cpp +++ b/common/autoware_motion_utils/src/resample/resample.cpp @@ -21,7 +21,10 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include #include +#include +#include namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/conversion.cpp b/common/autoware_motion_utils/src/trajectory/conversion.cpp index 368d3e0fbbb75..706dd6dae79af 100644 --- a/common/autoware_motion_utils/src/trajectory/conversion.cpp +++ b/common/autoware_motion_utils/src/trajectory/conversion.cpp @@ -15,6 +15,7 @@ #include "autoware/motion_utils/trajectory/conversion.hpp" #include +#include namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/path_shift.cpp b/common/autoware_motion_utils/src/trajectory/path_shift.cpp index 6f57f34a56190..8864128f94bd9 100644 --- a/common/autoware_motion_utils/src/trajectory/path_shift.cpp +++ b/common/autoware_motion_utils/src/trajectory/path_shift.cpp @@ -16,6 +16,9 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include +#include + namespace autoware::motion_utils { double calc_feasible_velocity_from_jerk( diff --git a/common/autoware_motion_utils/src/trajectory/trajectory.cpp b/common/autoware_motion_utils/src/trajectory/trajectory.cpp index 080d8ca8c7437..35e39fda75a69 100644 --- a/common/autoware_motion_utils/src/trajectory/trajectory.cpp +++ b/common/autoware_motion_utils/src/trajectory/trajectory.cpp @@ -14,6 +14,10 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include +#include +#include + namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp b/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp index 5e2e0cc4bdf02..afce7f953e644 100644 --- a/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp +++ b/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp @@ -14,6 +14,9 @@ #include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" #include "gtest/gtest.h" + +#include + namespace { constexpr auto wall_ns_suffix = "_virtual_wall"; diff --git a/common/autoware_motion_utils/test/src/resample/test_resample.cpp b/common/autoware_motion_utils/test/src/resample/test_resample.cpp index 68ead4b8c1520..ef97dfa410d2d 100644 --- a/common/autoware_motion_utils/test/src/resample/test_resample.cpp +++ b/common/autoware_motion_utils/test/src/resample/test_resample.cpp @@ -24,6 +24,7 @@ #include #include +#include namespace { diff --git a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp index 4ff9b2a33ca13..f34365b08a943 100644 --- a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp +++ b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp @@ -21,6 +21,7 @@ #include #include +#include #include #include diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst index 1ff6a870e3791..920106de22082 100644 --- a/common/autoware_object_recognition_utils/CHANGELOG.rst +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_object_recognition_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml index 353a6af544783..05327766008f2 100644 --- a/common/autoware_object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -2,7 +2,7 @@ autoware_object_recognition_utils - 0.38.0 + 0.40.0 The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura diff --git a/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp index 196f82b69161a..55ac4e2a370c3 100644 --- a/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp @@ -19,6 +19,7 @@ #include "autoware/interpolation/spline_interpolation.hpp" #include +#include namespace autoware::object_recognition_utils { diff --git a/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp index 1482158581a8e..31d2a90f2e4a5 100644 --- a/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp @@ -16,6 +16,8 @@ #include +#include + constexpr double epsilon = 1e-06; namespace diff --git a/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp index a93d253bfd052..1f434d3362b86 100644 --- a/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp @@ -20,6 +20,8 @@ #include +#include + using autoware::universe_utils::Point2d; using autoware::universe_utils::Point3d; diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst index 5af614d9301ad..d400b77f4bf61 100644 --- a/common/autoware_osqp_interface/CHANGELOG.rst +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_osqp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml index 063617716bdd6..92a2afeccc4e0 100644 --- a/common/autoware_osqp_interface/package.xml +++ b/common/autoware_osqp_interface/package.xml @@ -2,7 +2,7 @@ autoware_osqp_interface - 0.38.0 + 0.40.0 Interface for the OSQP solver Maxime CLEMENT Takayuki Murooka diff --git a/common/autoware_osqp_interface/test/test_osqp_interface.cpp b/common/autoware_osqp_interface/test/test_osqp_interface.cpp index d03713f82566f..f65b07e6d792d 100644 --- a/common/autoware_osqp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_osqp_interface/test/test_osqp_interface.cpp @@ -17,6 +17,7 @@ #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst deleted file mode 100644 index 86a9f62f236fa..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ /dev/null @@ -1,14 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_mission_details_overlay_rviz_plugin -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) - feat: Add color customization to gear, speed, mission,speedlimit and traffic displays -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) -* Contributors: Ahmed Ebrahim, Khalil Selyan, Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst index 436099b87795e..cd4c6ae5ce49b 100644 --- a/common/autoware_path_distance_calculator/CHANGELOG.rst +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_path_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml index e9042c4385b66..6d207f6ed795d 100644 --- a/common/autoware_path_distance_calculator/package.xml +++ b/common/autoware_path_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_path_distance_calculator - 0.38.0 + 0.40.0 The autoware_path_distance_calculator package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst index 3aa6d4183543e..5e26002677a36 100644 --- a/common/autoware_point_types/CHANGELOG.rst +++ b/common/autoware_point_types/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_point_types ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index 8e9fb4fb51aa4..e35e6a63de648 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -2,7 +2,7 @@ autoware_point_types - 0.38.0 + 0.40.0 The point types definition to use point_cloud_msg_wrapper David Wong Max Schmeller diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst index 359de11cb3104..72a53e6cef4b7 100644 --- a/common/autoware_polar_grid/CHANGELOG.rst +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_polar_grid ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml index f14776b145349..16d6a72985ec9 100644 --- a/common/autoware_polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -2,7 +2,7 @@ autoware_polar_grid - 0.38.0 + 0.40.0 The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/autoware_pyplot/CHANGELOG.rst b/common/autoware_pyplot/CHANGELOG.rst new file mode 100644 index 0000000000000..c3b1f9c17f7d5 --- /dev/null +++ b/common/autoware_pyplot/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pyplot +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 `_) +* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 `_) +* feat(pyplot): add C++ pyplot (`#9430 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome + +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 `_) +* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 `_) +* feat(pyplot): add C++ pyplot (`#9430 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/visualization/autoware_pyplot/CMakeLists.txt b/common/autoware_pyplot/CMakeLists.txt similarity index 100% rename from visualization/autoware_pyplot/CMakeLists.txt rename to common/autoware_pyplot/CMakeLists.txt diff --git a/common/autoware_pyplot/README.md b/common/autoware_pyplot/README.md new file mode 100644 index 0000000000000..ded3387fefd99 --- /dev/null +++ b/common/autoware_pyplot/README.md @@ -0,0 +1,43 @@ +# autoware_pyplot + +This package provides C++ interface for the notable `matplotlib` using `pybind11` backend for + +- creating scientific plots and images illustrating the function inputs/outputs +- debugging the output and internal data of a function before unit testing in a more lightweight manner than planning_simulator + +## usage + +In your main function, setup the python context and import `matplotlib` + +```cpp +#include +#include + +// in main... + py::scoped_interpreter guard{}; + auto plt = autoware::pyplot::import(); +``` + +Then you can use major functionalities of `matplotlib` almost in the same way as native python code. + +```cpp +{ + plt.plot(Args(std::vector({1, 3, 2, 4})), Kwargs("color"_a = "blue", "linewidth"_a = 1.0)); + plt.xlabel(Args("x-title")); + plt.ylabel(Args("y-title")); + plt.title(Args("title")); + plt.xlim(Args(0, 5)); + plt.ylim(Args(0, 5)); + plt.grid(Args(true)); + plt.savefig(Args("test_single_plot.png")); +} + +{ + auto [fig, axes] = plt.subplots(1, 2); + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); +} +``` diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/axes.hpp b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/axes.hpp rename to common/autoware_pyplot/include/autoware/pyplot/axes.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/common.hpp b/common/autoware_pyplot/include/autoware/pyplot/common.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/common.hpp rename to common/autoware_pyplot/include/autoware/pyplot/common.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/figure.hpp b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/figure.hpp rename to common/autoware_pyplot/include/autoware/pyplot/figure.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/legend.hpp b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/legend.hpp rename to common/autoware_pyplot/include/autoware/pyplot/legend.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/loader.hpp b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/loader.hpp rename to common/autoware_pyplot/include/autoware/pyplot/loader.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/patches.hpp b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/patches.hpp rename to common/autoware_pyplot/include/autoware/pyplot/patches.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/pyplot.hpp b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/pyplot.hpp rename to common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/quiver.hpp b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/quiver.hpp rename to common/autoware_pyplot/include/autoware/pyplot/quiver.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/text.hpp b/common/autoware_pyplot/include/autoware/pyplot/text.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/text.hpp rename to common/autoware_pyplot/include/autoware/pyplot/text.hpp diff --git a/visualization/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml similarity index 97% rename from visualization/autoware_pyplot/package.xml rename to common/autoware_pyplot/package.xml index af0237d0aead8..2f3f3014d4907 100644 --- a/visualization/autoware_pyplot/package.xml +++ b/common/autoware_pyplot/package.xml @@ -2,7 +2,7 @@ autoware_pyplot - 0.1.0 + 0.40.0 C++ interface for matplotlib based on pybind11 Mamoru Sobue Yukinari Hisaki diff --git a/visualization/autoware_pyplot/src/axes.cpp b/common/autoware_pyplot/src/axes.cpp similarity index 99% rename from visualization/autoware_pyplot/src/axes.cpp rename to common/autoware_pyplot/src/axes.cpp index 0f08ffe5773f6..95f871ea6179f 100644 --- a/visualization/autoware_pyplot/src/axes.cpp +++ b/common/autoware_pyplot/src/axes.cpp @@ -15,6 +15,8 @@ #include #include +#include + namespace autoware::pyplot { inline namespace axes diff --git a/visualization/autoware_pyplot/src/common.cpp b/common/autoware_pyplot/src/common.cpp similarity index 97% rename from visualization/autoware_pyplot/src/common.cpp rename to common/autoware_pyplot/src/common.cpp index 5b3fffa37f30e..5f1226cb5bae1 100644 --- a/visualization/autoware_pyplot/src/common.cpp +++ b/common/autoware_pyplot/src/common.cpp @@ -14,6 +14,8 @@ #include +#include + namespace autoware::pyplot { inline namespace common diff --git a/visualization/autoware_pyplot/src/figure.cpp b/common/autoware_pyplot/src/figure.cpp similarity index 100% rename from visualization/autoware_pyplot/src/figure.cpp rename to common/autoware_pyplot/src/figure.cpp diff --git a/visualization/autoware_pyplot/src/legend.cpp b/common/autoware_pyplot/src/legend.cpp similarity index 100% rename from visualization/autoware_pyplot/src/legend.cpp rename to common/autoware_pyplot/src/legend.cpp diff --git a/visualization/autoware_pyplot/src/patches.cpp b/common/autoware_pyplot/src/patches.cpp similarity index 100% rename from visualization/autoware_pyplot/src/patches.cpp rename to common/autoware_pyplot/src/patches.cpp diff --git a/visualization/autoware_pyplot/src/pyplot.cpp b/common/autoware_pyplot/src/pyplot.cpp similarity index 99% rename from visualization/autoware_pyplot/src/pyplot.cpp rename to common/autoware_pyplot/src/pyplot.cpp index d45d34a35d767..624a1b1db07df 100644 --- a/visualization/autoware_pyplot/src/pyplot.cpp +++ b/common/autoware_pyplot/src/pyplot.cpp @@ -15,6 +15,9 @@ #include #include +#include +#include + namespace autoware::pyplot { PyPlot::PyPlot(const pybind11::module & mod_) : mod(mod_) diff --git a/visualization/autoware_pyplot/src/quiver.cpp b/common/autoware_pyplot/src/quiver.cpp similarity index 100% rename from visualization/autoware_pyplot/src/quiver.cpp rename to common/autoware_pyplot/src/quiver.cpp diff --git a/visualization/autoware_pyplot/src/text.cpp b/common/autoware_pyplot/src/text.cpp similarity index 100% rename from visualization/autoware_pyplot/src/text.cpp rename to common/autoware_pyplot/src/text.cpp diff --git a/visualization/autoware_pyplot/test/test_pyplot.cpp b/common/autoware_pyplot/test/test_pyplot.cpp similarity index 100% rename from visualization/autoware_pyplot/test/test_pyplot.cpp rename to common/autoware_pyplot/test/test_pyplot.cpp diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst index b2e26a8e0085e..f76dac861e1e6 100644 --- a/common/autoware_qp_interface/CHANGELOG.rst +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -1,6 +1,48 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package qp_interface -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_qp_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_qp_interface/package.xml b/common/autoware_qp_interface/package.xml index 43c9c6607bcaa..b61d03a36db72 100644 --- a/common/autoware_qp_interface/package.xml +++ b/common/autoware_qp_interface/package.xml @@ -2,7 +2,7 @@ autoware_qp_interface - 0.38.0 + 0.40.0 Interface for the QP solvers Takayuki Murooka Fumiya Watanabe diff --git a/common/autoware_qp_interface/src/osqp_interface.cpp b/common/autoware_qp_interface/src/osqp_interface.cpp index b850036c0aebf..fbb8e71f4c251 100644 --- a/common/autoware_qp_interface/src/osqp_interface.cpp +++ b/common/autoware_qp_interface/src/osqp_interface.cpp @@ -18,6 +18,11 @@ #include +#include +#include +#include +#include + namespace autoware::qp_interface { OSQPInterface::OSQPInterface( diff --git a/common/autoware_qp_interface/src/proxqp_interface.cpp b/common/autoware_qp_interface/src/proxqp_interface.cpp index ccfd74e70dace..a0ebbf0db0510 100644 --- a/common/autoware_qp_interface/src/proxqp_interface.cpp +++ b/common/autoware_qp_interface/src/proxqp_interface.cpp @@ -14,6 +14,10 @@ #include "autoware/qp_interface/proxqp_interface.hpp" +#include +#include +#include + namespace autoware::qp_interface { using proxsuite::proxqp::QPSolverOutput; diff --git a/common/autoware_qp_interface/test/test_osqp_interface.cpp b/common/autoware_qp_interface/test/test_osqp_interface.cpp index 873e5d501dc7d..f97cc2888afa0 100644 --- a/common/autoware_qp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_osqp_interface.cpp @@ -17,6 +17,8 @@ #include +#include +#include #include #include diff --git a/common/autoware_qp_interface/test/test_proxqp_interface.cpp b/common/autoware_qp_interface/test/test_proxqp_interface.cpp index 5bf85b026478d..e47af10c7aabd 100644 --- a/common/autoware_qp_interface/test/test_proxqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_proxqp_interface.cpp @@ -17,6 +17,8 @@ #include +#include +#include #include #include diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst index f0293aefdc69d..b5b01e98e23a7 100644 --- a/common/autoware_signal_processing/CHANGELOG.rst +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_signal_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml index 952833d10c59a..b8d7c064112dd 100644 --- a/common/autoware_signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -2,7 +2,7 @@ autoware_signal_processing - 0.38.0 + 0.40.0 The signal processing package Takayuki Murooka Takamasa Horibe diff --git a/common/autoware_signal_processing/src/butterworth.cpp b/common/autoware_signal_processing/src/butterworth.cpp index 7f491d443787b..0143b7b4fe273 100644 --- a/common/autoware_signal_processing/src/butterworth.cpp +++ b/common/autoware_signal_processing/src/butterworth.cpp @@ -19,6 +19,7 @@ #include #include #include +#include namespace autoware::signal_processing { diff --git a/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp index bd5d1dbbf6948..8fa72676b02cc 100644 --- a/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp @@ -14,6 +14,8 @@ #include "butterworth_filter_test.hpp" +#include + using autoware::signal_processing::ButterworthFilter; TEST_F(ButterWorthTestFixture, butterworthOrderTest) diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst index b9600e7cb7f22..950fdb09aa119 100644 --- a/common/autoware_test_utils/CHANGELOG.rst +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -2,6 +2,90 @@ Changelog for package autoware_test_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): add parser for LaneletRoute, TrackedObject (`#9317 `_) +* test(autoware_test_utils): add TrafficLight to map, fix launcher (`#9318 `_) +* test(bpp_common): add tests for the static drivable area (`#9324 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_test_utils): add general topic dumper (`#9207 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi, awf-autoware-bot[bot], mkquda + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_test_utils): add general topic dumper (`#9207 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) +* Contributors: Esteve Fernandez, Mamoru Sobue, Yutaka Kondo, mkquda + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index 3721dc67526b5..b98af2133f175 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -213,15 +213,21 @@ LaneletMapBin make_map_bin_msg( const std::string & absolute_path, const double center_line_resolution = 5.0); /** - * @brief Creates a LaneletMapBin message using a predefined Lanelet2 map file. + * @brief Creates a LaneletMapBin message using a Lanelet2 map file. * - * This function loads a lanelet2_map.osm from the test_map folder in the - * autoware_test_utils package, overwrites the centerline with a resolution of 5.0, + * This function loads a specified map file from the test_map folder in the + * specified package (or autoware_test_utils if no package is specified), + * overwrites the centerline with a resolution of 5.0, * and converts the map to a LaneletMapBin message. * + * @param package_name The name of the package containing the map file. If empty, defaults to + * "autoware_test_utils". + * @param map_filename The name of the map file (e.g. "lanelet2_map.osm") * @return A LaneletMapBin message containing the map data. */ -LaneletMapBin makeMapBinMsg(); +LaneletMapBin makeMapBinMsg( + const std::string & package_name = "autoware_test_utils", + const std::string & map_filename = "lanelet2_map.osm"); /** * @brief Creates an Odometry message with a specified shift. diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 5d36e8aefef3b..5e07237e2c495 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -35,6 +35,7 @@ #include #include +#include #include #include #include @@ -197,10 +198,10 @@ template T parse(const std::string & filename); template <> -LaneletRoute parse(const std::string & filename); +std::optional parse(const std::string & filename); template <> -PathWithLaneId parse(const std::string & filename); +std::optional parse(const std::string & filename); template auto create_const_shared_ptr(MessageType && payload) diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 712a3569a658b..22572abb72b69 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -2,7 +2,7 @@ autoware_test_utils - 0.38.0 + 0.40.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index 696f58d5e19e8..08c4a3b5e9264 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -26,7 +26,9 @@ #include #include +#include #include +#include namespace autoware::test_utils { @@ -178,10 +180,9 @@ LaneletMapBin make_map_bin_msg( return map_bin_msg; } -LaneletMapBin makeMapBinMsg() +LaneletMapBin makeMapBinMsg(const std::string & package_name, const std::string & map_filename) { - return make_map_bin_msg( - get_absolute_path_to_lanelet_map("autoware_test_utils", "lanelet2_map.osm")); + return make_map_bin_msg(get_absolute_path_to_lanelet_map(package_name, map_filename)); } Odometry makeOdometry(const double shift) @@ -310,7 +311,12 @@ PathWithLaneId loadPathWithLaneIdInYaml() const auto yaml_path = get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml"); - return parse(yaml_path); + if (const auto path = parse>(yaml_path)) { + return *path; + } + + throw std::runtime_error( + "Failed to parse YAML file: " + yaml_path + ". The file might be corrupted."); } lanelet::ConstLanelet make_lanelet( diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index 9e895c7b4027d..6e7002501bf30 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include @@ -220,11 +221,7 @@ std::vector parse>(const Y { std::vector path_points; - if (!node["points"]) { - return path_points; - } - - const auto & points = node["points"]; + const auto & points = node; path_points.reserve(points.size()); std::transform( points.begin(), points.end(), std::back_inserter(path_points), [&](const YAML::Node & input) { @@ -428,36 +425,30 @@ OperationModeState parse(const YAML::Node & node) } template <> -LaneletRoute parse(const std::string & filename) +std::optional parse(const std::string & filename) { - LaneletRoute lanelet_route; - try { - YAML::Node config = YAML::LoadFile(filename); - - lanelet_route.start_pose = (config["start_pose"]) ? parse(config["start_pose"]) : Pose(); - lanelet_route.goal_pose = (config["goal_pose"]) ? parse(config["goal_pose"]) : Pose(); - lanelet_route.segments = parse>(config["segments"]); - } catch (const std::exception & e) { - RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + YAML::Node node = YAML::LoadFile(filename); + if (!node["start_pose"] || !node["goal_pose"] || !node["segments"]) { + return std::nullopt; } - return lanelet_route; + + return parse(node); } template <> -PathWithLaneId parse(const std::string & filename) +std::optional parse(const std::string & filename) { - PathWithLaneId path; - YAML::Node yaml_node = YAML::LoadFile(filename); - - try { - path.header = parse
(yaml_node["header"]); - path.points = parse>(yaml_node); - path.left_bound = parse>(yaml_node["left_bound"]); - path.right_bound = parse>(yaml_node["right_bound"]); - } catch (const std::exception & e) { - RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + YAML::Node node = YAML::LoadFile(filename); + + if (!node["header"] || !node["points"] || !node["left_bound"] || !node["right_bound"]) { + return std::nullopt; } + PathWithLaneId path; + path.header = parse
(node["header"]); + path.points = parse>(node["points"]); + path.left_bound = parse>(node["left_bound"]); + path.right_bound = parse>(node["right_bound"]); return path; } } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/src/topic_snapshot_saver.cpp b/common/autoware_test_utils/src/topic_snapshot_saver.cpp index 82700be9e3f54..b2cb2a17c9621 100644 --- a/common/autoware_test_utils/src/topic_snapshot_saver.cpp +++ b/common/autoware_test_utils/src/topic_snapshot_saver.cpp @@ -29,10 +29,15 @@ #include #include +#include +#include #include #include +#include #include +#include #include +#include using MessageType = std::variant< nav_msgs::msg::Odometry, // 0 diff --git a/common/autoware_test_utils/test/test_autoware_test_manager.cpp b/common/autoware_test_utils/test/test_autoware_test_manager.cpp index 688ec9df9ad42..9e0e00d199f67 100644 --- a/common/autoware_test_utils/test/test_autoware_test_manager.cpp +++ b/common/autoware_test_utils/test/test_autoware_test_manager.cpp @@ -20,6 +20,9 @@ #include +#include +#include + class RelayNode : public rclcpp::Node { public: diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index a0dd0fce9bd29..036f16c827713 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -20,6 +20,8 @@ #include +#include + namespace autoware::test_utils { using tier4_planning_msgs::msg::PathWithLaneId; @@ -671,11 +673,12 @@ TEST(ParseFunctions, CompleteYAMLTest) // Test parsing of segments const auto segments = parse>(config["segments"]); ASSERT_EQ( - segments.size(), uint64_t(1)); // Assuming only one segment in the provided YAML for this test + segments.size(), + static_cast(1)); // Assuming only one segment in the provided YAML for this test const auto & segment0 = segments[0]; EXPECT_EQ(segment0.preferred_primitive.id, 11); - EXPECT_EQ(segment0.primitives.size(), uint64_t(2)); + EXPECT_EQ(segment0.primitives.size(), static_cast(2)); EXPECT_EQ(segment0.primitives[0].id, 22); EXPECT_EQ(segment0.primitives[0].primitive_type, "lane"); EXPECT_EQ(segment0.primitives[1].id, 33); @@ -788,38 +791,44 @@ TEST(ParseFunction, CompleteFromFilename) const auto parser_test_route = autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml"; - const auto lanelet_route = parse(parser_test_route); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); + if (const auto lanelet_route_opt = parse>(parser_test_route)) { + const auto & lanelet_route = *lanelet_route_opt; + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8); - ASSERT_EQ( - lanelet_route.segments.size(), - uint64_t(2)); // Assuming only one segment in the provided YAML for this test - const auto & segment1 = lanelet_route.segments[1]; - EXPECT_EQ(segment1.preferred_primitive.id, 44); - EXPECT_EQ(segment1.primitives.size(), uint64_t(4)); - EXPECT_EQ(segment1.primitives[0].id, 55); - EXPECT_EQ(segment1.primitives[0].primitive_type, "lane"); - EXPECT_EQ(segment1.primitives[1].id, 66); - EXPECT_EQ(segment1.primitives[1].primitive_type, "lane"); - EXPECT_EQ(segment1.primitives[2].id, 77); - EXPECT_EQ(segment1.primitives[2].primitive_type, "lane"); - EXPECT_EQ(segment1.primitives[3].id, 88); - EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); + ASSERT_EQ( + lanelet_route.segments.size(), + static_cast(2)); // Assuming only one segment in the provided YAML for this test + const auto & segment1 = lanelet_route.segments[1]; + EXPECT_EQ(segment1.preferred_primitive.id, 44); + EXPECT_EQ(segment1.primitives.size(), static_cast(4)); + EXPECT_EQ(segment1.primitives[0].id, 55); + EXPECT_EQ(segment1.primitives[0].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[1].id, 66); + EXPECT_EQ(segment1.primitives[1].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[2].id, 77); + EXPECT_EQ(segment1.primitives[2].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[3].id, 88); + EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); + } else { + const std::string fail_reason = + "Failed to parse YAML file: " + parser_test_route + ". The file might be corrupted."; + FAIL() << fail_reason; + } } TEST(ParseFunction, ParsePathWithLaneID) @@ -829,45 +838,49 @@ TEST(ParseFunction, ParsePathWithLaneID) const auto parser_test_path = autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml"; - const auto path = parse(parser_test_path); - EXPECT_EQ(path.header.stamp.sec, 20); - EXPECT_EQ(path.header.stamp.nanosec, 5); + if (const auto path_opt = parse>(parser_test_path)) { + const auto & path = *path_opt; + EXPECT_EQ(path.header.stamp.sec, 20); + EXPECT_EQ(path.header.stamp.nanosec, 5); - const auto path_points = path.points; - const auto & p1 = path_points.front(); - EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9); - EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8); - EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0); - EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2); - EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4); - EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6); - EXPECT_TRUE(p1.point.is_final); - EXPECT_EQ(p1.lane_ids.front(), 912); + const auto path_points = path.points; + const auto & p1 = path_points.front(); + EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9); + EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8); + EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0); + EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2); + EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4); + EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6); + EXPECT_TRUE(p1.point.is_final); + EXPECT_EQ(p1.lane_ids.front(), 912); - const auto & p2 = path_points.back(); - EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0); - EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5); - EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0); - EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1); - EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3); - EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5); - EXPECT_FALSE(p2.point.is_final); - EXPECT_EQ(p2.lane_ids.front(), 205); + const auto & p2 = path_points.back(); + EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5); + EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0); + EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1); + EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3); + EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5); + EXPECT_FALSE(p2.point.is_final); + EXPECT_EQ(p2.lane_ids.front(), 205); - EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0); - EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0); - EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0); - EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55); - EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66); - EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77); + EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55); + EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66); + EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77); + } else { + FAIL() << "Yaml file might've corrupted."; + } } } // namespace autoware::test_utils diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst index 36ad1ec42c3c5..09ff6bdc4cf04 100644 --- a/common/autoware_testing/CHANGELOG.rst +++ b/common/autoware_testing/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index 483b8323e224f..a5df1302b682d 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -2,7 +2,7 @@ autoware_testing - 0.38.0 + 0.40.0 Tools for handling standard tests based on ros_testing Adam Dabrowski Tomoya Kimura diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index 73c72991895b0..b18c3dd42cbc6 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -1,6 +1,56 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package time_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_time_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_time_utils/package.xml b/common/autoware_time_utils/package.xml index 988ebad188839..278143e9ac4f8 100644 --- a/common/autoware_time_utils/package.xml +++ b/common/autoware_time_utils/package.xml @@ -2,7 +2,7 @@ autoware_time_utils - 0.38.0 + 0.40.0 Simple conversion methods to/from std::chrono to simplify algorithm development Christopher Ho Tomoya Kimura diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst index d4f17b0feea0e..27a61bf71b1e8 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -1,6 +1,35 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package traffic_light_recognition_marker_publisher -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_recognition_marker_publisher +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* fix: fix missing namespaces in C++ code (`#9477 `_) +* refactor(traffic_light_recognition_marker_publisher): prefix package and namespace with autoware (`#9305 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml index 88addcfb77b44..af670dc19baf1 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/package.xml +++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_recognition_marker_publisher - 0.38.0 + 0.40.0 The autoware_traffic_light_recognition_marker_publisher package Tomoya Kimura Takeshi Miura diff --git a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp index e9189a6c84c2b..a08145f429c72 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp +++ b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst index 7a62fa661e9bb..0230e43574de8 100644 --- a/common/autoware_traffic_light_utils/CHANGELOG.rst +++ b/common/autoware_traffic_light_utils/CHANGELOG.rst @@ -1,6 +1,34 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package traffic_light_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml index 384839d1c91d4..645e92e2d992f 100644 --- a/common/autoware_traffic_light_utils/package.xml +++ b/common/autoware_traffic_light_utils/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_utils - 0.38.0 + 0.40.0 The autoware_traffic_light_utils package Kotaro Uetake Shunsuke Miura diff --git a/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp index 4ba7e1c1d57d8..97d3081ceefdd 100644 --- a/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp +++ b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp @@ -14,6 +14,8 @@ #include "autoware/traffic_light_utils/traffic_light_utils.hpp" +#include + namespace autoware::traffic_light_utils { diff --git a/common/autoware_trajectory/CHANGELOG.rst b/common/autoware_trajectory/CHANGELOG.rst new file mode 100644 index 0000000000000..307dd8eb3dcf5 --- /dev/null +++ b/common/autoware_trajectory/CHANGELOG.rst @@ -0,0 +1,89 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_trajectory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* refactor: correct spelling (`#9528 `_) +* fix(autoware_trajectory): autoware_trajectory bug (`#9475 `_) + fix autoware_trajectory bug +* 0.39.0 +* fix version +* update changelog +* add changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* refactor(autoware_trajectory): refactor autoware_trajectory (`#9356 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* feat(autoware_trajectory): change default value of min_points (`#9315 `_) +* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) +* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* add changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* feat(autoware_trajectory): change default value of min_points (`#9315 `_) +* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) +* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Yukinari Hisaki, Yutaka Kondo + +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* feat(autoware_trajectory): change default value of min_points (`#9315 `_) +* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) +* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Yukinari Hisaki, Yutaka Kondo + +0.38.0 (2024-11-11) +------------------- + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_trajectory/examples/example_trajectory_path_point.cpp b/common/autoware_trajectory/examples/example_trajectory_path_point.cpp index 777942654e5b2..fb1197e53ab67 100644 --- a/common/autoware_trajectory/examples/example_trajectory_path_point.cpp +++ b/common/autoware_trajectory/examples/example_trajectory_path_point.cpp @@ -19,6 +19,7 @@ #include +#include #include autoware_planning_msgs::msg::PathPoint path_point(double x, double y) diff --git a/common/autoware_trajectory/include/autoware/trajectory/point.hpp b/common/autoware_trajectory/include/autoware/trajectory/point.hpp index e9d985a85194a..3e763e2428f1b 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/point.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/point.hpp @@ -122,7 +122,7 @@ class Trajectory using trajectory::detail::to_point; Eigen::Vector2d point(to_point(p).x, to_point(p).y); std::vector distances_from_segments; - std::vector lengthes_from_start_points; + std::vector lengths_from_start_points; auto axis = detail::crop_bases(bases_, start_, end_); @@ -149,7 +149,7 @@ class Trajectory } if (constraints(length_from_start_point)) { distances_from_segments.push_back(distance_from_segment); - lengthes_from_start_points.push_back(length_from_start_point); + lengths_from_start_points.push_back(length_from_start_point); } } if (distances_from_segments.empty()) { @@ -158,7 +158,7 @@ class Trajectory auto min_it = std::min_element(distances_from_segments.begin(), distances_from_segments.end()); - return lengthes_from_start_points[std::distance(distances_from_segments.begin(), min_it)] - + return lengths_from_start_points[std::distance(distances_from_segments.begin(), min_it)] - start_; } diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml index d6ab5465578aa..eaa5fca80ff46 100644 --- a/common/autoware_trajectory/package.xml +++ b/common/autoware_trajectory/package.xml @@ -2,7 +2,7 @@ autoware_trajectory - 0.1.0 + 0.40.0 The autoware_trajectory package Yukinari Hisaki Takayuki Murooka diff --git a/common/autoware_trajectory/src/path_point.cpp b/common/autoware_trajectory/src/path_point.cpp index 4a2ac80b749bd..0806bcead53f3 100644 --- a/common/autoware_trajectory/src/path_point.cpp +++ b/common/autoware_trajectory/src/path_point.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::trajectory { diff --git a/common/autoware_trajectory/src/point.cpp b/common/autoware_trajectory/src/point.cpp index c7b9a6ab74a38..40c6c357e9ba5 100644 --- a/common/autoware_trajectory/src/point.cpp +++ b/common/autoware_trajectory/src/point.cpp @@ -22,6 +22,7 @@ #include #include #include +#include namespace autoware::trajectory { diff --git a/common/autoware_trajectory/test/test_trajectory_container.cpp b/common/autoware_trajectory/test/test_trajectory_container.cpp index b3e4c16a09999..6f6d52107b348 100644 --- a/common/autoware_trajectory/test/test_trajectory_container.cpp +++ b/common/autoware_trajectory/test/test_trajectory_container.cpp @@ -15,6 +15,7 @@ #include +#include #include using Trajectory = autoware::trajectory::Trajectory; @@ -106,9 +107,9 @@ TEST_F(TrajectoryTest, direction) TEST_F(TrajectoryTest, curvature) { - double curv = trajectory->curvature(0.0); - EXPECT_LT(-1.0, curv); - EXPECT_LT(curv, 1.0); + double curvature_val = trajectory->curvature(0.0); + EXPECT_LT(-1.0, curvature_val); + EXPECT_LT(curvature_val, 1.0); } TEST_F(TrajectoryTest, restore) diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst index 8d79fbb4f4f2a..31f45a8ecbfce 100644 --- a/common/autoware_universe_utils/CHANGELOG.rst +++ b/common/autoware_universe_utils/CHANGELOG.rst @@ -2,6 +2,64 @@ Changelog for package autoware_universe_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* feat(universe_utils): add extra info to time keeper warning (`#9484 `_) + add extra info to time keeper warning +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Giovanni Muhammad Raditya, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_universe_utils/examples/example_lru_cache.cpp b/common/autoware_universe_utils/examples/example_lru_cache.cpp index 95decf8eb336d..6ddf5ec165529 100644 --- a/common/autoware_universe_utils/examples/example_lru_cache.cpp +++ b/common/autoware_universe_utils/examples/example_lru_cache.cpp @@ -17,6 +17,8 @@ #include #include #include +#include +#include using autoware::universe_utils::LRUCache; diff --git a/common/autoware_universe_utils/examples/example_polling_subscriber.cpp b/common/autoware_universe_utils/examples/example_polling_subscriber.cpp index d078da6df43af..b9a76356e07c4 100644 --- a/common/autoware_universe_utils/examples/example_polling_subscriber.cpp +++ b/common/autoware_universe_utils/examples/example_polling_subscriber.cpp @@ -18,6 +18,8 @@ #include +#include + // PublisherNode class definition class PublisherNode : public rclcpp::Node { diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml index 535206f57c25c..d04e1a57e78ab 100644 --- a/common/autoware_universe_utils/package.xml +++ b/common/autoware_universe_utils/package.xml @@ -2,7 +2,7 @@ autoware_universe_utils - 0.38.0 + 0.40.0 The autoware_universe_utils package Takamasa Horibe Takayuki Murooka diff --git a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp index 0d6e608d8cd6d..848ecdd699ec5 100644 --- a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp @@ -14,6 +14,11 @@ #include "autoware/universe_utils/geometry/alt_geometry.hpp" +#include +#include +#include +#include + namespace autoware::universe_utils { // Alternatives for Boost.Geometry ---------------------------------------------------------------- diff --git a/common/autoware_universe_utils/src/geometry/ear_clipping.cpp b/common/autoware_universe_utils/src/geometry/ear_clipping.cpp index edc17b2dab120..f178a7e832511 100644 --- a/common/autoware_universe_utils/src/geometry/ear_clipping.cpp +++ b/common/autoware_universe_utils/src/geometry/ear_clipping.cpp @@ -14,6 +14,10 @@ #include "autoware/universe_utils/geometry/ear_clipping.hpp" +#include +#include +#include + namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/src/geometry/geometry.cpp b/common/autoware_universe_utils/src/geometry/geometry.cpp index 5fda8eb3f4ca4..e9aaccd055dad 100644 --- a/common/autoware_universe_utils/src/geometry/geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/geometry.cpp @@ -22,6 +22,8 @@ #include +#include + namespace tf2 { void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped & out) diff --git a/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp b/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp index aa3c2afab321a..35819c0b119bf 100644 --- a/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp +++ b/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp @@ -22,7 +22,12 @@ #include #include +#include +#include +#include #include +#include +#include namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/src/geometry/sat_2d.cpp b/common/autoware_universe_utils/src/geometry/sat_2d.cpp index eae1de39bb589..a38fcbd3c3430 100644 --- a/common/autoware_universe_utils/src/geometry/sat_2d.cpp +++ b/common/autoware_universe_utils/src/geometry/sat_2d.cpp @@ -14,6 +14,8 @@ #include "autoware/universe_utils/geometry/sat_2d.hpp" +#include + namespace autoware::universe_utils::sat { diff --git a/common/autoware_universe_utils/src/math/trigonometry.cpp b/common/autoware_universe_utils/src/math/trigonometry.cpp index 2966f35bfe59e..5cfe1326323e5 100644 --- a/common/autoware_universe_utils/src/math/trigonometry.cpp +++ b/common/autoware_universe_utils/src/math/trigonometry.cpp @@ -18,6 +18,7 @@ #include "autoware/universe_utils/math/sin_table.hpp" #include +#include namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/src/ros/marker_helper.cpp b/common/autoware_universe_utils/src/ros/marker_helper.cpp index 0d360e2335df7..3370f7e05814a 100644 --- a/common/autoware_universe_utils/src/ros/marker_helper.cpp +++ b/common/autoware_universe_utils/src/ros/marker_helper.cpp @@ -14,6 +14,8 @@ #include "autoware/universe_utils/ros/marker_helper.hpp" +#include + namespace autoware::universe_utils { visualization_msgs::msg::Marker createDefaultMarker( diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp index 8c715c5ccd7e3..55901ce5b4987 100644 --- a/common/autoware_universe_utils/src/system/time_keeper.cpp +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -19,7 +19,10 @@ #include +#include #include +#include +#include namespace autoware::universe_utils { @@ -135,9 +138,10 @@ void TimeKeeper::start_track(const std::string & func_name) root_node_thread_id_ = std::this_thread::get_id(); } else { if (root_node_thread_id_ != std::this_thread::get_id()) { - RCLCPP_WARN( - rclcpp::get_logger("TimeKeeper"), - "TimeKeeper::start_track() is called from a different thread. Ignoring the call."); + const auto warning_msg = fmt::format( + "TimeKeeper::start_track({}) is called from a different thread. Ignoring the call.", + func_name); + RCLCPP_WARN(rclcpp::get_logger("TimeKeeper"), "%s", warning_msg.c_str()); return; } current_time_node_ = current_time_node_->add_child(func_name); diff --git a/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp index 90dfb1ede4701..9fa949cedb867 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp @@ -25,7 +25,10 @@ #include #include +#include +#include #include +#include constexpr double epsilon = 1e-6; diff --git a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp index 3202347cc8ac4..3e4b08c4cc272 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp @@ -29,7 +29,10 @@ #include #include +#include +#include #include +#include constexpr double epsilon = 1e-6; diff --git a/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp index 9df6f9bb2ffef..351cd252126cc 100644 --- a/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp +++ b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp @@ -21,6 +21,7 @@ #include #include +#include class TestManagedTransformBuffer : public ::testing::Test { diff --git a/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp b/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp index f9c0bd45c4fb4..7e4debfe59c2b 100644 --- a/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp +++ b/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp @@ -20,6 +20,10 @@ #include +#include +#include +#include + class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test { protected: diff --git a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp index 0540fa8a283ad..4491d79051059 100644 --- a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp +++ b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp @@ -19,7 +19,9 @@ #include #include +#include #include +#include #include class TimeKeeperTest : public ::testing::Test @@ -86,7 +88,11 @@ TEST_F(TimeKeeperTest, MultiThreadWarning) t.join(); std::string err = testing::internal::GetCapturedStderr(); - EXPECT_TRUE( - err.find("TimeKeeper::start_track() is called from a different thread. Ignoring the call.") != - std::string::npos); + const bool error_found = err.find( + "TimeKeeper::start_track(MainFunction) is called from a different " + "thread. Ignoring the call.") != std::string::npos || + err.find( + "TimeKeeper::start_track(ThreadFunction) is called from a different " + "thread. Ignoring the call.") != std::string::npos; + EXPECT_TRUE(error_found); } diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst index 5ad86eddf9f52..a02256d5f9cea 100644 --- a/common/autoware_vehicle_info_utils/CHANGELOG.rst +++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_vehicle_info_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(static_centerline_generator): several bug fixes (`#9426 `_) + * fix: dependent packages + * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously + * fix cppcheck + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp index 0e783cd006986..51c63418acc29 100644 --- a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp +++ b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp @@ -71,6 +71,7 @@ struct VehicleInfo double calcMaxCurvature() const; double calcCurvatureFromSteerAngle(const double steer_angle) const; + double calcSteerAngleFromCurvature(const double curvature) const; }; /// Create vehicle info from base parameters diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml index 1e35c8fce516e..b6a2f1ad5154a 100644 --- a/common/autoware_vehicle_info_utils/package.xml +++ b/common/autoware_vehicle_info_utils/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_info_utils - 0.38.0 + 0.40.0 The autoware_vehicle_info_utils package diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp index c1e762811ede3..c75a4351fb3f3 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::vehicle_info_utils { autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const @@ -127,4 +129,15 @@ double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const const double curvature = 1.0 / radius; return curvature; } + +double VehicleInfo::calcSteerAngleFromCurvature(const double curvature) const +{ + if (std::abs(curvature) < 1e-6) { + return 0.0; + } + + const double radius = 1.0 / curvature; + const double steer_angle = std::atan2(wheel_base_m, radius); + return steer_angle; +} } // namespace autoware::vehicle_info_utils diff --git a/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp index 3ad19ba9cab35..ea660208da2be 100644 --- a/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp +++ b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp @@ -17,6 +17,8 @@ #include +#include + class VehicleInfoUtilTest : public ::testing::Test { protected: diff --git a/common/glog_component/CHANGELOG.rst b/common/glog_component/CHANGELOG.rst deleted file mode 100644 index b305cfb616e27..0000000000000 --- a/common/glog_component/CHANGELOG.rst +++ /dev/null @@ -1,29 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package glog_component -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* chore(glog): add initialization check (`#6792 `_) -* Contributors: Takamasa Horibe, Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- -* feat(glog): add glog in planning and control modules (`#4714 `_) - * feat(glog): add glog component - * formatting - * remove namespace - * remove license - * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py - Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py - Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Update common/glog_component/CMakeLists.txt - Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Update launch/tier4_control_launch/launch/control.launch.py - Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * add copyright - --------- - Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* Contributors: Takamasa Horibe diff --git a/common/glog_component/CMakeLists.txt b/common/glog_component/CMakeLists.txt deleted file mode 100644 index a233914cc1524..0000000000000 --- a/common/glog_component/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(glog_component) - -find_package(autoware_cmake REQUIRED) -autoware_package() - - -ament_auto_add_library(glog_component SHARED - src/glog_component.cpp -) -target_link_libraries(glog_component glog::glog) - -rclcpp_components_register_node(glog_component - PLUGIN "GlogComponent" - EXECUTABLE glog_component_node -) - -ament_auto_package() diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst index 3129d35f02c38..d9b94eeacc79b 100644 --- a/common/tier4_api_utils/CHANGELOG.rst +++ b/common/tier4_api_utils/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_api_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 6936fb4034f63..3e7f99b8736c5 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -2,7 +2,7 @@ tier4_api_utils - 0.38.0 + 0.40.0 The tier4_api_utils package Takagi, Isamu Apache License 2.0 diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst index 6e8285c25481d..578ffc14bae84 100644 --- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst +++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst @@ -2,6 +2,130 @@ Changelog for package autoware_autonomous_emergency_braking ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(autoware_autonomous_emergency_braking): add package maintainer (`#9580 `_) + add package maintainer +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor(autoware_autonomous_emergency_braking): update longitudinal offset parameter name (`#9463 `_) + Update the parameter name for the longitudinal offset distance used for collision check in the autonomous emergency braking control module. The parameter name has been changed from "longitudinal_offset" to "longitudinal_offset_margin" to better reflect its purpose. +* refactor(autoware_autonomous_emergency_braking): add getObjectOnPathData and getLongitudinalOffset functions (`#9462 `_) + * feat(aeb): add getObjectOnPathData and getLongitudinalOffset functions + --------- +* docs(autoware_autonomous_emergency_braking): enhance IMU path generation section with constraints and algorithm details (`#9458 `_) +* feat(autonomous_emergency_braking): set a lateral deviation limit for AEB IMU path (`#9410 `_) + * add a steer limit option for AEB + * wip refactor and add max lat dev param + * fix issue with test + * delete unwanted parts + * delete unwanted changes + * set to false + * change back path length + * add suggestions + * update readme + * cpp check + * fix some sentences + * expand explanation + * update image + * update README + * update description + * fix typo + * fix sentences + * improve readme + --------- +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran, mkquda, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo, danielsanchezaran, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index edec3ac8fd6a1..e22a0f099e2f0 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -2,13 +2,14 @@ autoware_autonomous_emergency_braking - 0.38.0 + 0.40.0 Autonomous Emergency Braking package as a ROS 2 node Takamasa Horibe Tomoya Kimura Mamoru Sobue Daniel Sanchez Kyoichi Sugahara + Alqudah Mohammad Apache License 2.0 diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index 21a690cd0eec3..eb0884e4f344e 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -43,10 +43,13 @@ #include #include +#include #include #include #include +#include #include +#include #include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/control/autoware_autonomous_emergency_braking/src/utils.cpp b/control/autoware_autonomous_emergency_braking/src/utils.cpp index 9b9d09777e09e..abd203dee2a02 100644 --- a/control/autoware_autonomous_emergency_braking/src/utils.cpp +++ b/control/autoware_autonomous_emergency_braking/src/utils.cpp @@ -17,6 +17,8 @@ #include #include +#include +#include namespace autoware::motion::control::autonomous_emergency_braking::utils { diff --git a/control/autoware_autonomous_emergency_braking/test/test.cpp b/control/autoware_autonomous_emergency_braking/test/test.cpp index 360e6f9877e06..1845ab4074fad 100644 --- a/control/autoware_autonomous_emergency_braking/test/test.cpp +++ b/control/autoware_autonomous_emergency_braking/test/test.cpp @@ -31,6 +31,7 @@ #include #include #include +#include namespace autoware::motion::control::autonomous_emergency_braking::test { diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst index 3e6f87d08dd6d..a108327961ac3 100644 --- a/control/autoware_collision_detector/CHANGELOG.rst +++ b/control/autoware_collision_detector/CHANGELOG.rst @@ -2,6 +2,60 @@ Changelog for package autoware_collision_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml index ff081e921aef2..680c20b8094e7 100644 --- a/control/autoware_collision_detector/package.xml +++ b/control/autoware_collision_detector/package.xml @@ -2,7 +2,7 @@ autoware_collision_detector - 0.38.0 + 0.40.0 The collision_detector package Kyoichi Sugahara diff --git a/control/autoware_collision_detector/src/node.cpp b/control/autoware_collision_detector/src/node.cpp index cfb9e5bfc6dbb..77d6d76c08b0a 100644 --- a/control/autoware_collision_detector/src/node.cpp +++ b/control/autoware_collision_detector/src/node.cpp @@ -29,6 +29,12 @@ #include #include +#include +#include +#include +#include +#include + #define EIGEN_MPL2_ONLY #include #include diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst index 9b57a109b7780..c35ece2151697 100644 --- a/control/autoware_control_validator/CHANGELOG.rst +++ b/control/autoware_control_validator/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_control_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 `_) +* fix(autoware_control_validator): fix clang-diagnostic-unused-private-field (`#9381 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index fbe759547aba1..fbaa3f013b64e 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -2,7 +2,7 @@ autoware_control_validator - 0.38.0 + 0.40.0 ros node for autoware_control_validator Kyoichi Sugahara Takamasa Horibe diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index d51282cb33bb3..0c16fae065939 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -23,6 +23,7 @@ #include #include #include +#include namespace autoware::control_validator { diff --git a/control/autoware_control_validator/test/test_control_validator.cpp b/control/autoware_control_validator/test/test_control_validator.cpp index c4d5b04fa920c..76ba5b7894365 100644 --- a/control/autoware_control_validator/test/test_control_validator.cpp +++ b/control/autoware_control_validator/test/test_control_validator.cpp @@ -24,6 +24,7 @@ #include #include +#include #include using autoware_planning_msgs::msg::Trajectory; diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst index fee762039a445..2e4ee4c7d2906 100644 --- a/control/autoware_external_cmd_selector/CHANGELOG.rst +++ b/control/autoware_external_cmd_selector/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_external_cmd_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml index 1d69b4eb8e97e..86cbdf9f00bfb 100644 --- a/control/autoware_external_cmd_selector/package.xml +++ b/control/autoware_external_cmd_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_selector - 0.38.0 + 0.40.0 The autoware_external_cmd_selector package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst index 5e73b2921e356..8d25bab7fc6db 100644 --- a/control/autoware_joy_controller/CHANGELOG.rst +++ b/control/autoware_joy_controller/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_joy_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml index 3ee880799a025..b178ec167306a 100644 --- a/control/autoware_joy_controller/package.xml +++ b/control/autoware_joy_controller/package.xml @@ -2,7 +2,7 @@ autoware_joy_controller - 0.38.0 + 0.40.0 The autoware_joy_controller package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst index 9c8eccb587208..9b49f0c6c8fb1 100644 --- a/control/autoware_lane_departure_checker/CHANGELOG.rst +++ b/control/autoware_lane_departure_checker/CHANGELOG.rst @@ -2,6 +2,65 @@ Changelog for package autoware_lane_departure_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* test(lane_departure_checker): add unit test for createVehiclePassingAreas (`#9548 `_) + * test(lane_departure_checker): add unit tests for createVehiclePassingAreas function + --------- +* refactor(lane_departure_checker): move member functions to util functions (`#9547 `_) + * refactor(lane_departure_checker): move member functions to util functions + --------- +* fix(cpplint): include what you use - control (`#9565 `_) +* test(lane_departure_checker): add tests for calcTrajectoryDeviation(), calcMaxSearchLengthForBoundaries() (`#9029 `_) + * move calcTrajectoryDeviation() to separate files + * move calcMaxSearchLengthForBoundaries() to separate files + * add tests for calcTrajectoryDeviation() + * add tests for calcMaxSearchLengthForBoundaries() + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], danielsanchezaran + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, danielsanchezaran + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp index 6c83f8780c93c..1ac984394a25e 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp @@ -157,19 +157,10 @@ class LaneDepartureChecker Param param_; std::shared_ptr vehicle_info_ptr_; - static PoseDeviation calcTrajectoryDeviation( - const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, - const double dist_threshold, const double yaw_threshold); - - static std::vector createVehiclePassingAreas( - const std::vector & vehicle_footprints); - bool willLeaveLane( const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints) const; - double calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const; - static SegmentRtree extractUncrossableBoundaries( const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, const double max_search_length, const std::vector & boundary_types_to_detect); diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp index 45a651339cc12..bde404603749b 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp @@ -16,6 +16,7 @@ #define AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_ #include +#include #include #include @@ -23,11 +24,17 @@ #include #include +#include +#include +#include + #include namespace autoware::lane_departure_checker::utils { using autoware::universe_utils::LinearRing2d; +using autoware::universe_utils::MultiPoint2d; +using autoware::universe_utils::PoseDeviation; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_planning_msgs::msg::PathWithLaneId; @@ -73,6 +80,54 @@ std::vector createVehicleFootprints( std::vector createVehicleFootprints( const PathWithLaneId & path, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double footprint_extra_margin); + +/** + * @brief find lanelets that potentially intersect with the vehicle's trajectory + * @param route_lanelets lanelets along the planned route + * @param vehicle_footprints series of vehicle footprint polygons along the trajectory + * @return lanelets that are not disjoint from the convex hull of vehicle footprints + */ +lanelet::ConstLanelets getCandidateLanelets( + const lanelet::ConstLanelets & route_lanelets, + const std::vector & vehicle_footprints); + +/** + * @brief create a convex hull from multiple footprint polygons + * @param footprints collection of footprint polygons represented as LinearRing2d + * @return a single LinearRing2d representing the convex hull containing all input footprints + */ +LinearRing2d createHullFromFootprints(const std::vector & footprints); + +/** + * @brief create passing areas of the vehicle from vehicle footprints + * @param vehicle_footprints vehicle footprints along trajectory + * @return passing areas of the vehicle that are created from adjacent vehicle footprints + * If vehicle_footprints is empty, returns empty vector + * If vehicle_footprints size is 1, returns vector with that footprint + */ +std::vector createVehiclePassingAreas( + const std::vector & vehicle_footprints); + +/** + * @brief calculate the deviation of the given pose from the nearest pose on the trajectory + * @param trajectory target trajectory + * @param pose vehicle pose + * @param dist_threshold distance threshold used for searching for first nearest index to given pose + * @param yaw_threshold yaw threshold used for searching for first nearest index to given pose + * @return deviation of the given pose from the trajectory + */ +PoseDeviation calcTrajectoryDeviation( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, + const double yaw_threshold); + +/** + * @brief calculate the maximum search length for boundaries considering the vehicle dimensions + * @param trajectory target trajectory + * @param vehicle_info vehicle information + * @return maximum search length for boundaries + */ +double calcMaxSearchLengthForBoundaries( + const Trajectory & trajectory, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info); } // namespace autoware::lane_departure_checker::utils #endif // AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_ diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml index c8271f4ef4a6d..2689b4a4dbcb7 100644 --- a/control/autoware_lane_departure_checker/package.xml +++ b/control/autoware_lane_departure_checker/package.xml @@ -2,7 +2,7 @@ autoware_lane_departure_checker - 0.38.0 + 0.40.0 The autoware_lane_departure_checker package Kyoichi Sugahara Makoto Kurihara diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index f823988c77e4d..5d50ac0e2951b 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -16,7 +16,6 @@ #include "autoware/lane_departure_checker/utils.hpp" -#include #include #include #include @@ -27,9 +26,9 @@ #include #include +#include #include -using autoware::motion_utils::calcArcLength; using autoware::universe_utils::LinearRing2d; using autoware::universe_utils::LineString2d; using autoware::universe_utils::MultiPoint2d; @@ -60,39 +59,6 @@ bool isInAnyLane(const lanelet::ConstLanelets & candidate_lanelets, const Point2 return false; } -LinearRing2d createHullFromFootprints(const std::vector & footprints) -{ - MultiPoint2d combined; - for (const auto & footprint : footprints) { - for (const auto & p : footprint) { - combined.push_back(p); - } - } - - LinearRing2d hull; - boost::geometry::convex_hull(combined, hull); - - return hull; -} - -lanelet::ConstLanelets getCandidateLanelets( - const lanelet::ConstLanelets & route_lanelets, - const std::vector & vehicle_footprints) -{ - lanelet::ConstLanelets candidate_lanelets; - - // Find lanes within the convex hull of footprints - const auto footprint_hull = createHullFromFootprints(vehicle_footprints); - for (const auto & route_lanelet : route_lanelets) { - const auto poly = route_lanelet.polygon2d().basicPolygon(); - if (!boost::geometry::disjoint(poly, footprint_hull)) { - candidate_lanelets.push_back(route_lanelet); - } - } - - return candidate_lanelets; -} - } // namespace namespace autoware::lane_departure_checker @@ -103,7 +69,7 @@ Output LaneDepartureChecker::update(const Input & input) autoware::universe_utils::StopWatch stop_watch; - output.trajectory_deviation = calcTrajectoryDeviation( + output.trajectory_deviation = utils::calcTrajectoryDeviation( *input.reference_trajectory, input.current_odom->pose.pose, param_.ego_nearest_dist_threshold, param_.ego_nearest_yaw_threshold); output.processing_time_map["calcTrajectoryDeviation"] = stop_watch.toc(true); @@ -127,13 +93,13 @@ Output LaneDepartureChecker::update(const Input & input) param_.footprint_margin_scale); output.processing_time_map["createVehicleFootprints"] = stop_watch.toc(true); - output.vehicle_passing_areas = createVehiclePassingAreas(output.vehicle_footprints); + output.vehicle_passing_areas = utils::createVehiclePassingAreas(output.vehicle_footprints); output.processing_time_map["createVehiclePassingAreas"] = stop_watch.toc(true); const auto candidate_road_lanelets = - getCandidateLanelets(input.route_lanelets, output.vehicle_footprints); + utils::getCandidateLanelets(input.route_lanelets, output.vehicle_footprints); const auto candidate_shoulder_lanelets = - getCandidateLanelets(input.shoulder_lanelets, output.vehicle_footprints); + utils::getCandidateLanelets(input.shoulder_lanelets, output.vehicle_footprints); output.candidate_lanelets = candidate_road_lanelets; output.candidate_lanelets.insert( output.candidate_lanelets.end(), candidate_shoulder_lanelets.begin(), @@ -148,7 +114,7 @@ Output LaneDepartureChecker::update(const Input & input) output.processing_time_map["isOutOfLane"] = stop_watch.toc(true); const double max_search_length_for_boundaries = - calcMaxSearchLengthForBoundaries(*input.predicted_trajectory); + utils::calcMaxSearchLengthForBoundaries(*input.predicted_trajectory, *vehicle_info_ptr_); const auto uncrossable_boundaries = extractUncrossableBoundaries( *input.lanelet_map, input.predicted_trajectory->points.front().pose.position, max_search_length_for_boundaries, input.boundary_types_to_detect); @@ -165,33 +131,11 @@ bool LaneDepartureChecker::checkPathWillLeaveLane( std::vector vehicle_footprints = utils::createVehicleFootprints(path, *vehicle_info_ptr_, param_.footprint_extra_margin); - lanelet::ConstLanelets candidate_lanelets = getCandidateLanelets(lanelets, vehicle_footprints); + lanelet::ConstLanelets candidate_lanelets = + utils::getCandidateLanelets(lanelets, vehicle_footprints); return willLeaveLane(candidate_lanelets, vehicle_footprints); } -PoseDeviation LaneDepartureChecker::calcTrajectoryDeviation( - const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, - const double yaw_threshold) -{ - const auto nearest_idx = autoware::motion_utils::findFirstNearestIndexWithSoftConstraints( - trajectory.points, pose, dist_threshold, yaw_threshold); - return autoware::universe_utils::calcPoseDeviation(trajectory.points.at(nearest_idx).pose, pose); -} - -std::vector LaneDepartureChecker::createVehiclePassingAreas( - const std::vector & vehicle_footprints) -{ - // Create hull from two adjacent vehicle footprints - std::vector areas; - for (size_t i = 0; i < vehicle_footprints.size() - 1; ++i) { - const auto & footprint1 = vehicle_footprints.at(i); - const auto & footprint2 = vehicle_footprints.at(i + 1); - areas.push_back(createHullFromFootprints({footprint1, footprint2})); - } - - return areas; -} - bool LaneDepartureChecker::willLeaveLane( const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints) const @@ -215,7 +159,7 @@ std::vector> LaneDepartureChecker::getLanele // Get Footprint Hull basic polygon std::vector vehicle_footprints = utils::createVehicleFootprints(path, *vehicle_info_ptr_, param_.footprint_extra_margin); - LinearRing2d footprint_hull = createHullFromFootprints(vehicle_footprints); + LinearRing2d footprint_hull = utils::createHullFromFootprints(vehicle_footprints); lanelet::BasicPolygon2d footprint_hull_basic_polygon = toBasicPolygon2D(footprint_hull); @@ -388,18 +332,6 @@ bool LaneDepartureChecker::isOutOfLane( return false; } -double LaneDepartureChecker::calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const -{ - const double max_ego_lon_length = std::max( - std::abs(vehicle_info_ptr_->max_longitudinal_offset_m), - std::abs(vehicle_info_ptr_->min_longitudinal_offset_m)); - const double max_ego_lat_length = std::max( - std::abs(vehicle_info_ptr_->max_lateral_offset_m), - std::abs(vehicle_info_ptr_->min_lateral_offset_m)); - const double max_ego_search_length = std::hypot(max_ego_lon_length, max_ego_lat_length); - return calcArcLength(trajectory.points) + max_ego_search_length; -} - SegmentRtree LaneDepartureChecker::extractUncrossableBoundaries( const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, const double max_search_length, const std::vector & boundary_types_to_detect) diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp index 324936c633158..ec0647115385d 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp @@ -14,10 +14,15 @@ #include "autoware/lane_departure_checker/utils.hpp" +#include #include #include +#include + +#include + namespace { struct FootprintMargin @@ -161,4 +166,82 @@ std::vector createVehicleFootprints( return vehicle_footprints; } + +lanelet::ConstLanelets getCandidateLanelets( + const lanelet::ConstLanelets & route_lanelets, + const std::vector & vehicle_footprints) +{ + lanelet::ConstLanelets candidate_lanelets; + + // Find lanes within the convex hull of footprints + const auto footprint_hull = createHullFromFootprints(vehicle_footprints); + + for (const auto & route_lanelet : route_lanelets) { + const auto poly = route_lanelet.polygon2d().basicPolygon(); + if (!boost::geometry::disjoint(poly, footprint_hull)) { + candidate_lanelets.push_back(route_lanelet); + } + } + + return candidate_lanelets; +} + +LinearRing2d createHullFromFootprints(const std::vector & footprints) +{ + MultiPoint2d combined; + for (const auto & footprint : footprints) { + for (const auto & p : footprint) { + combined.push_back(p); + } + } + + LinearRing2d hull; + boost::geometry::convex_hull(combined, hull); + + return hull; +} + +std::vector createVehiclePassingAreas( + const std::vector & vehicle_footprints) +{ + if (vehicle_footprints.empty()) { + return {}; + } + + if (vehicle_footprints.size() == 1) { + return {vehicle_footprints.front()}; + } + + std::vector areas; + areas.reserve(vehicle_footprints.size() - 1); + + for (size_t i = 0; i < vehicle_footprints.size() - 1; ++i) { + const auto & footprint1 = vehicle_footprints.at(i); + const auto & footprint2 = vehicle_footprints.at(i + 1); + areas.push_back(createHullFromFootprints({footprint1, footprint2})); + } + + return areas; +} + +PoseDeviation calcTrajectoryDeviation( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, + const double yaw_threshold) +{ + const auto nearest_idx = autoware::motion_utils::findFirstNearestIndexWithSoftConstraints( + trajectory.points, pose, dist_threshold, yaw_threshold); + return autoware::universe_utils::calcPoseDeviation(trajectory.points.at(nearest_idx).pose, pose); +} + +double calcMaxSearchLengthForBoundaries( + const Trajectory & trajectory, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info) +{ + const double max_ego_lon_length = std::max( + std::abs(vehicle_info.max_longitudinal_offset_m), + std::abs(vehicle_info.min_longitudinal_offset_m)); + const double max_ego_lat_length = std::max( + std::abs(vehicle_info.max_lateral_offset_m), std::abs(vehicle_info.min_lateral_offset_m)); + const double max_ego_search_length = std::hypot(max_ego_lon_length, max_ego_lat_length); + return autoware::motion_utils::calcArcLength(trajectory.points) + max_ego_search_length; +} } // namespace autoware::lane_departure_checker::utils diff --git a/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp b/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp new file mode 100644 index 0000000000000..2a7cef58e381f --- /dev/null +++ b/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp @@ -0,0 +1,108 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/lane_departure_checker/utils.hpp" + +#include + +#include + +#include +#include + +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; + +namespace +{ +Trajectory create_trajectory(const std::vector & points) +{ + Trajectory trajectory; + for (const auto & point : points) { + TrajectoryPoint p; + p.pose.position.x = point.x(); + p.pose.position.y = point.y(); + trajectory.points.push_back(p); + } + return trajectory; +} + +// reference: +// https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml +constexpr double wheel_radius_m = 0.383; +constexpr double wheel_width_m = 0.235; +constexpr double wheel_base_m = 2.79; +constexpr double wheel_tread_m = 1.64; +constexpr double front_overhang_m = 1.0; +constexpr double rear_overhang_m = 1.1; +constexpr double left_overhang_m = 0.128; +constexpr double right_overhang_m = 0.128; +constexpr double vehicle_height_m = 2.5; +constexpr double max_steer_angle_rad = 0.70; +} // namespace + +struct CalcMaxSearchLengthForBoundariesParam +{ + std::string description; + std::vector trajectory_points; + double expected_max_search_length; +}; + +std::ostream & operator<<(std::ostream & os, const CalcMaxSearchLengthForBoundariesParam & p) +{ + return os << p.description; +} + +class CalcMaxSearchLengthForBoundariesTest +: public ::testing::TestWithParam +{ +protected: + void SetUp() override + { + vehicle_info = autoware::vehicle_info_utils::createVehicleInfo( + wheel_radius_m, wheel_width_m, wheel_base_m, wheel_tread_m, front_overhang_m, rear_overhang_m, + left_overhang_m, right_overhang_m, vehicle_height_m, max_steer_angle_rad); + } + + autoware::vehicle_info_utils::VehicleInfo vehicle_info; +}; + +TEST_P(CalcMaxSearchLengthForBoundariesTest, test_calc_max_search_length_for_boundaries) +{ + const auto p = GetParam(); + const auto trajectory = create_trajectory(p.trajectory_points); + + const auto max_search_length = + autoware::lane_departure_checker::utils::calcMaxSearchLengthForBoundaries( + trajectory, vehicle_info); + + EXPECT_DOUBLE_EQ(max_search_length, p.expected_max_search_length); +} + +INSTANTIATE_TEST_SUITE_P( + LaneDepartureCheckerTest, CalcMaxSearchLengthForBoundariesTest, + ::testing::Values( + CalcMaxSearchLengthForBoundariesParam{ + "EmptyTrajectory", + {}, + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}, + CalcMaxSearchLengthForBoundariesParam{ + "SinglePointTrajectory", + {{0.0, 0.0}}, + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}, + CalcMaxSearchLengthForBoundariesParam{ + "MultiPointTrajectory", + {{0.0, 0.0}, {1.0, 0.0}}, + 1.0 + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}), + ::testing::PrintToStringParamName()); diff --git a/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp b/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp new file mode 100644 index 0000000000000..ccb85d1a0fec1 --- /dev/null +++ b/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp @@ -0,0 +1,101 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/lane_departure_checker/utils.hpp" + +#include + +#include + +#include +#include + +using autoware::universe_utils::PoseDeviation; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; + +namespace +{ +Trajectory create_trajectory(const std::vector & points) +{ + Trajectory trajectory; + for (const auto & point : points) { + TrajectoryPoint p; + p.pose.position.x = point.x(); + p.pose.position.y = point.y(); + trajectory.points.push_back(p); + } + return trajectory; +} + +geometry_msgs::msg::Pose create_pose(const Eigen::Vector3d & x_y_yaw) +{ + geometry_msgs::msg::Pose pose; + pose.position.x = x_y_yaw[0]; + pose.position.y = x_y_yaw[1]; + pose.orientation.z = std::sin(x_y_yaw[2] / 2); + pose.orientation.w = std::cos(x_y_yaw[2] / 2); + return pose; +} + +constexpr double ego_nearest_dist_threshold = 3.0; +constexpr double ego_nearest_yaw_threshold = 1.046; +} // namespace + +struct CalcTrajectoryDeviationTestParam +{ + std::string description; + std::vector trajectory_points; + Eigen::Vector3d x_y_yaw; + bool exception_expected; + PoseDeviation expected_deviation; +}; + +std::ostream & operator<<(std::ostream & os, const CalcTrajectoryDeviationTestParam & p) +{ + return os << p.description; +} + +class CalcTrajectoryDeviationTest +: public ::testing::TestWithParam +{ +}; + +TEST_P(CalcTrajectoryDeviationTest, test_calc_trajectory_deviation) +{ + const auto p = GetParam(); + const auto trajectory = create_trajectory(p.trajectory_points); + const auto pose = create_pose(p.x_y_yaw); + if (p.exception_expected) { + EXPECT_ANY_THROW({ + autoware::lane_departure_checker::utils::calcTrajectoryDeviation( + trajectory, pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); + }); + } else { + const auto deviation = autoware::lane_departure_checker::utils::calcTrajectoryDeviation( + trajectory, pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); + + EXPECT_DOUBLE_EQ(deviation.lateral, p.expected_deviation.lateral); + EXPECT_DOUBLE_EQ(deviation.longitudinal, p.expected_deviation.longitudinal); + EXPECT_DOUBLE_EQ(deviation.yaw, p.expected_deviation.yaw); + } +} + +INSTANTIATE_TEST_SUITE_P( + LaneDepartureCheckerTest, CalcTrajectoryDeviationTest, + ::testing::Values( + CalcTrajectoryDeviationTestParam{"EmptyTrajectory", {}, {}, true, {}}, + CalcTrajectoryDeviationTestParam{ + "SinglePointTrajectory", {{0.0, 0.0}}, {0.0, 0.0, 0.0}, false, {0.0, 0.0, 0.0}}), + ::testing::PrintToStringParamName()); diff --git a/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp b/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp index 6189d8803a3ea..e17e2bc697272 100644 --- a/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp +++ b/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp @@ -18,6 +18,9 @@ #include +#include +#include + using autoware::universe_utils::LinearRing2d; using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::PoseWithCovariance; diff --git a/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp b/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp new file mode 100644 index 0000000000000..40a4db4024094 --- /dev/null +++ b/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp @@ -0,0 +1,166 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/lane_departure_checker/utils.hpp" + +#include +#include + +#include +#include +#include +#include + +#include + +#include + +using autoware::lane_departure_checker::utils::createVehiclePassingAreas; +using autoware::universe_utils::LinearRing2d; +using autoware::universe_utils::Point2d; + +class CreateVehiclePassingAreasTest : public ::testing::Test +{ +protected: + LinearRing2d createSquare(double x, double y, double size) + { + LinearRing2d square; + square.reserve(5); + square.push_back(Point2d{x, y}); // bottom-left + square.push_back(Point2d{x, y + size}); // top-left + square.push_back(Point2d{x + size, y + size}); // top-right + square.push_back(Point2d{x + size, y}); // bottom-right + square.push_back(Point2d{x, y}); // close the square + boost::geometry::correct(square); + return square; + } + + bool isPointInsideHull(const Point2d & point, const LinearRing2d & hull) + { + return boost::geometry::within(point, hull) || boost::geometry::covered_by(point, hull); + } + + /** + * @brief Validates that all points in the given footprints are contained within the hull + * + * For each footprint in the input vector, checks whether all its points (except the last one + * which is identical to the first point in a LinearRing2d) are contained within the given hull. + * This validation ensures the correctness of the convex hull generation for vehicle passing + * areas. + * + * @param footprints Vector of LinearRing2d representing vehicle footprints to validate + * Must not be empty and must not contain empty LinearRing2d + * @param hull LinearRing2d representing the convex hull that should contain all footprints + * @note The last point of each footprint is not checked as LinearRing2d is a closed ring + * where the last point is identical to the first point + * @pre footprints must not be empty + * @pre each LinearRing2d in footprints must not be empty, as it represents a closed ring + */ + void validateFootprintsInHull( + const std::vector & footprints, const LinearRing2d & hull) + { + for (const auto & footprint : footprints) { + // An empty footprint would be invalid and should fail the test + EXPECT_FALSE(footprint.empty()) << "Footprint must not be empty"; + if (footprint.empty()) { + continue; + } + + // Iterate up to size()-1 since LinearRing2d is a closed ring where + // the last point is the same as the first point, so we don't need + // to check it again + for (size_t i = 0; i < footprint.size() - 1; ++i) { + const auto & point = footprint[i]; + EXPECT_TRUE(isPointInsideHull(point, hull)) + << "Point (" << point.x() << ", " << point.y() << ") is not inside the hull"; + } + } + } + + void SetUp() override + { + /* + Square placement: + Y-axis + ^ + | + 1 +---+ +---+ +---+ + | |s1 | |s2 | |s3 | + 0 +---+ +---+ +---+ + | + +---+---+---+---+---+---+--> X-axis + 0 1 1 2 3 4 + + s1: square1_ from (0,0) to (1,1) + s2: square2_ from (1,0) to (2,1) - adjacent to s1 + s3: square3_ from (3,0) to (4,1) - 1 unit apart from s2 + */ + square1_ = createSquare(0.0, 0.0, 1.0); // 1x1 square at origin + square2_ = createSquare(1.0, 0.0, 1.0); // square adjacent to square1_ + square3_ = createSquare(3.0, 0.0, 1.0); // square one unit apart from square2_ + } + + LinearRing2d square1_; // Reference square (0,0) + LinearRing2d square2_; // Adjacent square (1,0) + LinearRing2d square3_; // Distant square (3,0) +}; + +TEST_F(CreateVehiclePassingAreasTest, ReturnsEmptyAreaForEmptyInput) +{ + const std::vector empty_footprints; + const auto areas = createVehiclePassingAreas(empty_footprints); + EXPECT_TRUE(areas.empty()); +} + +TEST_F(CreateVehiclePassingAreasTest, ReturnsSameAreaForSingleFootprint) +{ + const std::vector single_footprint = {square1_}; + const auto areas = createVehiclePassingAreas(single_footprint); + + ASSERT_EQ(areas.size(), 1); + + auto result = areas.front(); + boost::geometry::correct(result); + EXPECT_EQ(result, square1_); +} + +TEST_F(CreateVehiclePassingAreasTest, CreatesValidHullForAdjacentFootprints) +{ + const std::vector footprints = {square1_, square2_}; + auto areas = createVehiclePassingAreas(footprints); + + ASSERT_EQ(areas.size(), 1); + auto & hull = areas.front(); + boost::geometry::correct(hull); + + // Basic validation of the convex hull + EXPECT_GE(hull.size(), 5); // At least a quadrilateral plus closing point + + // Verify all points from original footprints are inside the hull + validateFootprintsInHull(footprints, hull); +} + +TEST_F(CreateVehiclePassingAreasTest, HandlesNonAdjacentFootprints) +{ + const std::vector footprints = { + square1_, square3_}; // Using square3_ which is not adjacent to square1_ + auto areas = createVehiclePassingAreas(footprints); + + ASSERT_EQ(areas.size(), 1); + auto & hull = areas.front(); + boost::geometry::correct(hull); + + // Verify all points are inside the hull even for non-adjacent squares + validateFootprintsInHull(footprints, hull); +} diff --git a/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp b/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp index 67fe69323584e..214a165660225 100644 --- a/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp +++ b/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp @@ -18,6 +18,9 @@ #include +#include +#include + using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst index 7d32d50b1befd..f149921648e8d 100644 --- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst +++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst @@ -2,6 +2,74 @@ Changelog for package autoware_mpc_lateral_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_mpc_lateral_controller): fix clang-tidy errors (`#9436 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 `_) + * feat(mpc_lateral_controller): suppress rclcpp_warning/error + * fix + * fix test + --------- +* fix(autoware_mpc_lateral_controller): fix variableScope (`#9390 `_) +* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 `_) +* chore(autoware_mpc_lateral_controller): add maintainer (`#9374 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index a965343ad3e98..b450af05ea0e1 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -2,7 +2,7 @@ autoware_mpc_lateral_controller - 0.38.0 + 0.40.0 MPC-based lateral controller Takamasa Horibe diff --git a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp index 4a056c351208b..379ec0b614712 100644 --- a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp +++ b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp @@ -14,6 +14,7 @@ #include "autoware/mpc_lateral_controller/lowpass_filter.hpp" +#include #include namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 3c3496080b597..4c3c8bec9b12e 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -23,7 +23,11 @@ #include #include +#include #include +#include +#include +#include namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp index 842689527c847..0156d7af138bc 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp @@ -14,6 +14,8 @@ #include "autoware/mpc_lateral_controller/mpc_trajectory.hpp" +#include + namespace autoware::motion::control::mpc_lateral_controller { void MPCTrajectory::push_back( diff --git a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp index 820ee848c17fe..e8bc981a8ade8 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp @@ -21,8 +21,10 @@ #include "autoware/universe_utils/math/normalization.hpp" #include +#include #include #include +#include #include namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst index 5cca4c07048b1..79a7b2d8819e4 100644 --- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst +++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_obstacle_collision_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml index 01200e9c77bc3..334c6d970fc36 100644 --- a/control/autoware_obstacle_collision_checker/package.xml +++ b/control/autoware_obstacle_collision_checker/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_collision_checker - 0.38.0 + 0.40.0 The obstacle_collision_checker package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp b/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp index 97b26162812ef..789d5602b2414 100644 --- a/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp +++ b/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp @@ -29,6 +29,7 @@ #include #include +#include namespace { diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst index 3412c651fc4a7..3f178c04f9d48 100644 --- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst +++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_operation_mode_transition_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index 98e216a1b96ec..eb4d50b625f11 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -1,6 +1,6 @@ autoware_operation_mode_transition_manager - 0.38.0 + 0.40.0 The operation_mode_transition_manager package Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_operation_mode_transition_manager/src/data.cpp b/control/autoware_operation_mode_transition_manager/src/data.cpp index 1fac496f3c71c..48200d75fe2cb 100644 --- a/control/autoware_operation_mode_transition_manager/src/data.cpp +++ b/control/autoware_operation_mode_transition_manager/src/data.cpp @@ -14,6 +14,8 @@ #include "data.hpp" +#include + namespace autoware::operation_mode_transition_manager { diff --git a/control/autoware_operation_mode_transition_manager/src/node.cpp b/control/autoware_operation_mode_transition_manager/src/node.cpp index d0c7f303fca04..25c048b0540fa 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.cpp +++ b/control/autoware_operation_mode_transition_manager/src/node.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::operation_mode_transition_manager { diff --git a/control/autoware_operation_mode_transition_manager/src/state.cpp b/control/autoware_operation_mode_transition_manager/src/state.cpp index 31cd32e6311a9..5969e6b9fb03d 100644 --- a/control/autoware_operation_mode_transition_manager/src/state.cpp +++ b/control/autoware_operation_mode_transition_manager/src/state.cpp @@ -22,6 +22,8 @@ #include #include +#include +#include namespace autoware::operation_mode_transition_manager { diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst index b246fe3593ad5..d63f075c26918 100644 --- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst +++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_pid_longitudinal_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(pid_longitudinal_controller): suppress rclcpp_warning/error (`#9384 `_) + * feat(pid_longitudinal_controller): suppress rclcpp_warning/error + * update codeowner + --------- +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index b4bf580e133e7..67e95a9d4c0ac 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -2,7 +2,7 @@ autoware_pid_longitudinal_controller - 0.38.0 + 0.40.0 PID-based longitudinal controller Takamasa Horibe diff --git a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp index 134de5d1ac8bd..fe500d2551623 100644 --- a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp +++ b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp @@ -19,6 +19,8 @@ #include // NOLINT +#include + #ifdef ROS_DISTRO_GALACTIC #include "tf2_geometry_msgs/tf2_geometry_msgs.h" #else diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst index 2c60203858a32..e0afa320a49a5 100644 --- a/control/autoware_pure_pursuit/CHANGELOG.rst +++ b/control/autoware_pure_pursuit/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_pure_pursuit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, awf-autoware-bot[bot] + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml index 55fdac624f0d7..06500ddb32af0 100644 --- a/control/autoware_pure_pursuit/package.xml +++ b/control/autoware_pure_pursuit/package.xml @@ -2,7 +2,7 @@ autoware_pure_pursuit - 0.38.0 + 0.40.0 The pure_pursuit package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp index 085addbe17fc9..f3a7bc3c1333d 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp @@ -39,6 +39,7 @@ #include #include #include +#include namespace { diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp index ed9579f296fea..55a3680dfaaf0 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp @@ -156,9 +156,9 @@ int32_t PurePursuit::findNextPointIdx(int32_t search_start_idx) } // look for the next waypoint. - for (int32_t i = search_start_idx; i < (int32_t)curr_wps_ptr_->size(); i++) { + for (int32_t i = search_start_idx; i < static_cast(curr_wps_ptr_->size()); i++) { // if search waypoint is the last - if (i == ((int32_t)curr_wps_ptr_->size() - 1)) { + if (i == (static_cast(curr_wps_ptr_->size()) - 1)) { return i; } diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp index 9b68594f167e8..6688ed6a9f27d 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp @@ -15,6 +15,8 @@ #include "autoware/pure_pursuit/util/interpolate.hpp" #include +#include +#include #include namespace autoware::pure_pursuit diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst index 032398006ac94..2b5eda421e452 100644 --- a/control/autoware_shift_decider/CHANGELOG.rst +++ b/control/autoware_shift_decider/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_shift_decider ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml index f63b811d2eaf9..fb7811e094dc2 100644 --- a/control/autoware_shift_decider/package.xml +++ b/control/autoware_shift_decider/package.xml @@ -2,7 +2,7 @@ autoware_shift_decider - 0.38.0 + 0.40.0 The autoware_shift_decider package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst index ab53787cae6e0..d3dc4d5eb1aa8 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst +++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_smart_mpc_trajectory_follower ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix clang-diagnostic-ignored-optimization-argument (`#9437 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp index 8dbee65804237..daa054af31627 100644 --- a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp +++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp @@ -19,7 +19,9 @@ #include #include +#include #include +#include namespace py = pybind11; Eigen::VectorXd tanh(const Eigen::VectorXd & v) diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml index ca8331eaae9a9..7260dee488c52 100644 --- a/control/autoware_smart_mpc_trajectory_follower/package.xml +++ b/control/autoware_smart_mpc_trajectory_follower/package.xml @@ -2,7 +2,7 @@ autoware_smart_mpc_trajectory_follower - 0.38.0 + 0.40.0 Nodes to follow a trajectory by generating control commands using smart mpc diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 9b52928f063bd..88ccd57905c89 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -2,6 +2,52 @@ Changelog for package autoware_trajectory_follower_base ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index 663648950258c..e7b00e4b19cdc 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_base - 0.38.0 + 0.40.0 Library for generating lateral and longitudinal controls following a trajectory diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index cda983ab27d89..c77e252230bfb 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -2,6 +2,65 @@ Changelog for package autoware_trajectory_follower_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 `_) + * feat(mpc_lateral_controller): suppress rclcpp_warning/error + * fix + * fix test + --------- +* fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-security (`#9378 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml b/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml index e458edaf6c471..0de08076b8c06 100644 --- a/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml +++ b/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml @@ -258,7 +258,7 @@ - + @@ -268,7 +268,7 @@ - + @@ -286,7 +286,7 @@ - + diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 86a2592ebf5f4..aa65e340d20fe 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_node - 0.38.0 + 0.40.0 Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands diff --git a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp index 40e4366d9aa17..0b1dac644a8ab 100644 --- a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp +++ b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp @@ -30,6 +30,7 @@ #include "geometry_msgs/msg/transform_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" +#include #include #include diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index 20fc77c4cda55..38dae3279b1c8 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -2,6 +2,53 @@ Changelog for package autoware_vehicle_cmd_gate ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_vehicle_cmd_gate): remove unused variable (`#9377 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index a5026a0edb3ef..c3697337e2256 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_cmd_gate - 0.38.0 + 0.40.0 The vehicle_cmd_gate package Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index a18571144792a..c540f48dfc186 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -16,6 +16,7 @@ #include #include +#include namespace autoware::vehicle_cmd_gate { diff --git a/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp index 66dde51780ffa..9b403e2f8ed74 100644 --- a/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp +++ b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp @@ -17,9 +17,11 @@ #include +#include #include #include #include +#include #include #include diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst index cfe98a0e66275..67b4f15ddde9f 100644 --- a/control/control_performance_analysis/CHANGELOG.rst +++ b/control/control_performance_analysis/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package control_performance_analysis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* docs(control_performance_analysis): utilize mathjax syntax in readme (`#9552 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control_performance_analysis): clang-diagnostic-pessimizing-move (`#9380 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/control_performance_analysis/README.md b/control/control_performance_analysis/README.md index 3895b3cc13465..e87efbe179eee 100644 --- a/control/control_performance_analysis/README.md +++ b/control/control_performance_analysis/README.md @@ -44,34 +44,34 @@ Error acceleration calculations are made based on the velocity calculations abov #### control_performance_analysis::msg::DrivingMonitorStamped -| Name | Type | Description | -| ---------------------------- | ----- | -------------------------------------------------------- | -| `longitudinal_acceleration` | float | [m / s^2] | -| `longitudinal_jerk` | float | [m / s^3] | -| `lateral_acceleration` | float | [m / s^2] | -| `lateral_jerk` | float | [m / s^3] | -| `desired_steering_angle` | float | [rad] | -| `controller_processing_time` | float | Timestamp between last two control command messages [ms] | +| Name | Type | Description | +| ---------------------------- | ----- | --------------------------------------------------------------------- | +| `longitudinal_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `longitudinal_jerk` | float | $[ \mathrm{m/s^3} ]$ | +| `lateral_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `lateral_jerk` | float | $[ \mathrm{m/s^3} ]$ | +| `desired_steering_angle` | float | $[ \mathrm{rad} ]$ | +| `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ | #### control_performance_analysis::msg::ErrorStamped -| Name | Type | Description | -| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------- | -| `lateral_error` | float | [m] | -| `lateral_error_velocity` | float | [m / s] | -| `lateral_error_acceleration` | float | [m / s^2] | -| `longitudinal_error` | float | [m] | -| `longitudinal_error_velocity` | float | [m / s] | -| `longitudinal_error_acceleration` | float | [m / s^2] | -| `heading_error` | float | [rad] | -| `heading_error_velocity` | float | [rad / s] | -| `control_effort_energy` | float | [u * R * u^T] | -| `error_energy` | float | lateral_error^2 + heading_error^2 | -| `value_approximation` | float | V = xPx' ; Value function from DARE Lyap matrix P | -| `curvature_estimate` | float | [1 / m] | -| `curvature_estimate_pp` | float | [1 / m] | -| `vehicle_velocity_error` | float | [m / s] | -| `tracking_curvature_discontinuity_ability` | float | Measures the ability to tracking the curvature changes [`abs(delta(curvature)) / (1 + abs(delta(lateral_error))`] | +| Name | Type | Description | +| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| `lateral_error` | float | $[ \mathrm{m} ]$ | +| `lateral_error_velocity` | float | $[ \mathrm{m/s} ]$ | +| `lateral_error_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `longitudinal_error` | float | $[ \mathrm{m} ]$ | +| `longitudinal_error_velocity` | float | $[ \mathrm{m/s} ]$ | +| `longitudinal_error_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `heading_error` | float | $[ \mathrm{rad} ]$ | +| `heading_error_velocity` | float | $[ \mathrm{rad/s} ]$ | +| `control_effort_energy` | float | $[ \mathbf{u}^\top \mathbf{R} \mathbf{u} ]$ simplified to $[ R \cdot u^2 ]$ | +| `error_energy` | float | $e_{\text{lat}}^2 + e_\theta^2$ (squared lateral error + squared heading error) | +| `value_approximation` | float | $V = \mathbf{x}^\top \mathbf{P} \mathbf{x}$; Value function from DARE Lyapunov matrix $\mathbf{P}$ | +| `curvature_estimate` | float | $[ \mathrm{1/m} ]$ | +| `curvature_estimate_pp` | float | $[ \mathrm{1/m} ]$ | +| `vehicle_velocity_error` | float | $[ \mathrm{m/s} ]$ | +| `tracking_curvature_discontinuity_ability` | float | Measures the ability to track curvature changes $\frac{\lvert \Delta(\text{curvature}) \rvert}{1 + \lvert \Delta(e_{\text{lat}}) \rvert}$ | ## Parameters diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 4f149a3846595..9c2ef69e0137b 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -2,7 +2,7 @@ control_performance_analysis - 0.38.0 + 0.40.0 Controller Performance Evaluation Berkay Karaman Taiki Tanaka @@ -42,8 +42,8 @@ tf2_eigen tf2_ros tier4_debug_msgs + autoware_global_parameter_loader builtin_interfaces - global_parameter_loader rosidl_default_runtime ament_lint_auto autoware_lint_common diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp index 769593ac34d09..08f736dd0b630 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_core.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst index b2dbfa706eedc..2cfe80aeada7b 100644 --- a/control/predicted_path_checker/CHANGELOG.rst +++ b/control/predicted_path_checker/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package predicted_path_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index cfa2a23be92da..e2f9d17769e1a 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -2,7 +2,7 @@ predicted_path_checker - 0.38.0 + 0.40.0 The predicted_path_checker package Berkay Karaman diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp index 7771f59d15454..2841888b61bcc 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp index 4b6d0755db25f..12e38fd9968ab 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace utils { diff --git a/docs/assets/js/mathjax.js b/docs/assets/js/mathjax.js index 117b04607f279..adb184a80399e 100644 --- a/docs/assets/js/mathjax.js +++ b/docs/assets/js/mathjax.js @@ -1,3 +1,7 @@ +// This file is automatically synced from: +// https://github.com/autowarefoundation/sync-file-templates +// To make changes, update the source repository and follow the guidelines in its README. + window.MathJax = { tex: { inlineMath: [["\\(", "\\)"]], diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index 2469aea0deca1..88afa49d97cc3 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -2,6 +2,114 @@ Changelog for package autoware_control_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(control_evaluator): correct goal_lateal_deviation (`#9532 `_) +* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) + * refactor and add output_metrics. a bug existing when psim. + * refactored launch file. + * output description + * add parm to launch file. + * move output_metrics from param config to launch file. + * move output_metrics from config to launch.xml + * fix unit test bug. + * fix test bug again. + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(control_evaluator): add processing time publisher (`#9339 `_) +* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/autoware_control_evaluator/README.md b/evaluator/autoware_control_evaluator/README.md index 59c09015bd7b5..b7da418764959 100644 --- a/evaluator/autoware_control_evaluator/README.md +++ b/evaluator/autoware_control_evaluator/README.md @@ -4,14 +4,14 @@ This package provides nodes that generate metrics to evaluate the quality of control. -It publishes diagnostic information about control modules' outputs as well as the ego vehicle's current kinematics and position. +It publishes metric information about control modules' outputs as well as the ego vehicle's current kinematics and position. ## Evaluated metrics -The control evaluator uses the metrics defined in `include/autoware/control_evaluator/metrics/deviation_metrics.hpp`to calculate deviations in yaw and lateral distance from the ego's set-point. The control_evaluator can also be customized to offer metrics/evaluation about other control modules. Currently, the control_evaluator offers a simple diagnostic output based on the autonomous_emergency_braking node's output, but this functionality can be extended to evaluate other control modules' performance. +The control evaluator uses the metrics defined in `include/autoware/control_evaluator/metrics/metric.hpp`to calculate deviations in yaw and lateral distance from the ego's set-point. The control_evaluator can also be customized to offer metrics/evaluation about other control modules. Currently, the control_evaluator offers a simple metric output based on the autonomous_emergency_braking node's output, but this functionality can be extended to evaluate other control modules' performance. ## Kinematics output -The control evaluator module also constantly publishes information regarding the ego vehicle's kinematics and position. It publishes the current ego lane id with the longitudinal `s` and lateral `t` arc coordinates. It also publishes the current ego speed, acceleration and jerk in its diagnostic messages. +The control evaluator module also constantly publishes information regarding the ego vehicle's kinematics and position. It publishes the current ego lane id with the longitudinal `s` and lateral `t` arc coordinates. It also publishes the current ego speed, acceleration and jerk in its metric messages. This information can be used by other nodes to establish automated evaluation using rosbags: by crosschecking the ego position and kinematics with the evaluated control module's output, it is possible to judge if the evaluated control modules reacted in a satisfactory way at certain interesting points of the rosbag reproduction. diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index 6e4a04964a72c..c510b2ea46779 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -16,6 +16,8 @@ #define AUTOWARE__CONTROL_EVALUATOR__CONTROL_EVALUATOR_NODE_HPP_ #include "autoware/control_evaluator/metrics/deviation_metrics.hpp" +#include "autoware/control_evaluator/metrics/metric.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include #include @@ -32,10 +34,11 @@ #include #include #include +#include namespace control_diagnostics { - +using autoware::universe_utils::Accumulator; using autoware_planning_msgs::msg::Trajectory; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; @@ -53,6 +56,9 @@ class ControlEvaluatorNode : public rclcpp::Node { public: explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options); + ~ControlEvaluatorNode() override; + + void AddMetricMsg(const Metric & metric, const double & metric_value); void AddLateralDeviationMetricMsg(const Trajectory & traj, const Point & ego_point); void AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose); void AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose); @@ -85,9 +91,18 @@ class ControlEvaluatorNode : public rclcpp::Node // update Route Handler void getRouteData(); - // Calculator - // Metrics - std::deque stamps_; + // Parameters + bool output_metrics_; + + // Metric + const std::vector metrics_ = { + // collect all metrics + Metric::lateral_deviation, Metric::yaw_deviation, Metric::goal_longitudinal_deviation, + Metric::goal_lateral_deviation, Metric::goal_yaw_deviation, + }; + + std::array, static_cast(Metric::SIZE)> + metric_accumulators_; // 3(min, max, mean) * metric_size MetricArrayMsg metrics_msg_; autoware::route_handler::RouteHandler route_handler_; diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp new file mode 100644 index 0000000000000..be2f3135d7f7e --- /dev/null +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp @@ -0,0 +1,81 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__CONTROL_EVALUATOR__METRICS__METRIC_HPP_ +#define AUTOWARE__CONTROL_EVALUATOR__METRICS__METRIC_HPP_ + +#include +#include +#include +#include + +namespace control_diagnostics +{ +/** + * @brief Enumeration of trajectory metrics + */ +enum class Metric { + lateral_deviation, + yaw_deviation, + goal_longitudinal_deviation, + goal_lateral_deviation, + goal_yaw_deviation, + SIZE, +}; + +static const std::unordered_map str_to_metric = { + {"lateral_deviation", Metric::lateral_deviation}, + {"yaw_deviation", Metric::yaw_deviation}, + {"goal_longitudinal_deviation", Metric::goal_longitudinal_deviation}, + {"goal_lateral_deviation", Metric::goal_lateral_deviation}, + {"goal_yaw_deviation", Metric::goal_yaw_deviation}, +}; + +static const std::unordered_map metric_to_str = { + {Metric::lateral_deviation, "lateral_deviation"}, + {Metric::yaw_deviation, "yaw_deviation"}, + {Metric::goal_longitudinal_deviation, "goal_longitudinal_deviation"}, + {Metric::goal_lateral_deviation, "goal_lateral_deviation"}, + {Metric::goal_yaw_deviation, "goal_yaw_deviation"}, +}; + +// Metrics descriptions +static const std::unordered_map metric_descriptions = { + {Metric::lateral_deviation, "Lateral deviation from the reference trajectory[m]"}, + {Metric::yaw_deviation, "Yaw deviation from the reference trajectory[rad]"}, + {Metric::goal_longitudinal_deviation, "Longitudinal deviation from the goal point[m]"}, + {Metric::goal_lateral_deviation, "Lateral deviation from the goal point[m]"}, + {Metric::goal_yaw_deviation, "Yaw deviation from the goal point[rad]"}}; + +namespace details +{ +static struct CheckCorrectMaps +{ + CheckCorrectMaps() + { + if ( + str_to_metric.size() != static_cast(Metric::SIZE) || + metric_to_str.size() != static_cast(Metric::SIZE) || + metric_descriptions.size() != static_cast(Metric::SIZE)) { + std::cerr << "[metrics/metrics.hpp] Maps are not defined for all metrics: "; + std::cerr << str_to_metric.size() << " " << metric_to_str.size() << " " + << metric_descriptions.size() << std::endl; + } + } +} check; + +} // namespace details +} // namespace control_diagnostics + +#endif // AUTOWARE__CONTROL_EVALUATOR__METRICS__METRIC_HPP_ diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml index e9fee7ffadbf2..4cf795afb5a7d 100644 --- a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml +++ b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml @@ -1,20 +1,20 @@ - + - - + + + - - + - - + + diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 8ab2c73cb619a..a636a55bc5efd 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_control_evaluator - 0.38.0 + 0.40.0 ROS 2 node for evaluating control Daniel SANCHEZ takayuki MUROOKA @@ -22,6 +22,7 @@ autoware_test_utils autoware_universe_utils nav_msgs + nlohmann-json-dev pluginlib rclcpp rclcpp_components diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index c24dfee571852..9c8579469f878 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -16,7 +16,11 @@ #include #include +#include +#include +#include +#include #include #include #include @@ -33,12 +37,63 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti this->create_publisher("~/debug/processing_time_ms", 1); metrics_pub_ = create_publisher("~/metrics", 1); + // Parameters + output_metrics_ = declare_parameter("output_metrics"); + // Timer callback to publish evaluator diagnostics using namespace std::literals::chrono_literals; timer_ = rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&ControlEvaluatorNode::onTimer, this)); } +ControlEvaluatorNode::~ControlEvaluatorNode() +{ + if (!output_metrics_) { + return; + } + + // generate json data + using json = nlohmann::json; + json j; + for (Metric metric : metrics_) { + const std::string base_name = metric_to_str.at(metric) + "/"; + j[base_name + "min"] = metric_accumulators_[static_cast(metric)].min(); + j[base_name + "max"] = metric_accumulators_[static_cast(metric)].max(); + j[base_name + "mean"] = metric_accumulators_[static_cast(metric)].mean(); + j[base_name + "count"] = metric_accumulators_[static_cast(metric)].count(); + j[base_name + "description"] = metric_descriptions.at(metric); + } + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; + } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_control_evaluator-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); + f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); + } +} + void ControlEvaluatorNode::getRouteData() { // route @@ -62,6 +117,18 @@ void ControlEvaluatorNode::getRouteData() } } +void ControlEvaluatorNode::AddMetricMsg(const Metric & metric, const double & metric_value) +{ + MetricMsg metric_msg; + metric_msg.name = metric_to_str.at(metric); + metric_msg.value = std::to_string(metric_value); + metrics_msg_.metric_array.push_back(metric_msg); + + if (output_metrics_) { + metric_accumulators_[static_cast(metric)].add(metric_value); + } +} + void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose) { const auto current_lanelets = [&]() { @@ -97,7 +164,6 @@ void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose) metric_msg.value = std::to_string(arc_coordinates.distance); metrics_msg_.metric_array.push_back(metric_msg); } - return; } void ControlEvaluatorNode::AddKinematicStateMetricMsg( @@ -141,59 +207,44 @@ void ControlEvaluatorNode::AddKinematicStateMetricMsg( void ControlEvaluatorNode::AddLateralDeviationMetricMsg( const Trajectory & traj, const Point & ego_point) { - const double lateral_deviation = metrics::calcLateralDeviation(traj, ego_point); + const Metric metric = Metric::lateral_deviation; + const double metric_value = metrics::calcLateralDeviation(traj, ego_point); - MetricMsg metric_msg; - metric_msg.name = "lateral_deviation"; - metric_msg.value = std::to_string(lateral_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose) { - const double yaw_deviation = metrics::calcYawDeviation(traj, ego_pose); + const Metric metric = Metric::yaw_deviation; + const double metric_value = metrics::calcYawDeviation(traj, ego_pose); - MetricMsg metric_msg; - metric_msg.name = "yaw_deviation"; - metric_msg.value = std::to_string(yaw_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose) { - const double longitudinal_deviation = + const Metric metric = Metric::goal_longitudinal_deviation; + const double metric_value = metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position); - MetricMsg metric_msg; - metric_msg.name = "goal_longitudinal_deviation"; - metric_msg.value = std::to_string(longitudinal_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(const Pose & ego_pose) { - const double lateral_deviation = + const Metric metric = Metric::goal_lateral_deviation; + const double metric_value = metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); - MetricMsg metric_msg; - metric_msg.name = "goal_lateral_deviation"; - metric_msg.value = std::to_string(lateral_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose) { - const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); + const Metric metric = Metric::goal_yaw_deviation; + const double metric_value = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); - MetricMsg metric_msg; - metric_msg.name = "goal_yaw_deviation"; - metric_msg.value = std::to_string(yaw_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::onTimer() diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index 0a2f777e49b61..9098ce5667424 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -28,6 +28,7 @@ #include +#include #include #include #include @@ -52,6 +53,7 @@ class EvalTest : public ::testing::Test rclcpp::NodeOptions options; const auto share_dir = ament_index_cpp::get_package_share_directory("autoware_control_evaluator"); + options.arguments({"--ros-args", "-p", "output_metrics:=false"}); dummy_node = std::make_shared("control_evaluator_test_node"); eval_node = std::make_shared(options); diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index cf4aaf2e7fc94..77f544ae078fa 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -2,6 +2,113 @@ Changelog for package autoware_planning_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* feat(planning_evaluator): add a trigger to choice whether to output metrics to log folder (`#9476 `_) + * tmp save + * planning_evaluator build ok, test it. + * add descriptions to output. + * pre-commit. + * add parm to launch file. + * move output_metrics from config to launch file. + * fix unit test bug. + --------- +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* feat(planning_evaluator): add processing time pub (`#9334 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/autoware_planning_evaluator/README.md b/evaluator/autoware_planning_evaluator/README.md index 30ae1559ca9da..4fcdf4d7e55fd 100644 --- a/evaluator/autoware_planning_evaluator/README.md +++ b/evaluator/autoware_planning_evaluator/README.md @@ -62,8 +62,8 @@ Each metric is published on a topic named after the metric name. | ----------- | ------------------------------------- | ----------------------------------------------------------------- | | `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | MetricArray with many metrics of `tier4_metric_msgs::msg::Metric` | -When shut down, the evaluation node writes the values of the metrics measured during its lifetime -to a file as specified by the `output_file` parameter. +If `output_metrics = true`, the evaluation node writes the statics of the metrics measured during its lifetime +to `/autoware_metrics/-.json` when shut down. ## Parameters diff --git a/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml b/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml index 2e92a174ca79f..14c1bcc6beea4 100644 --- a/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml +++ b/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - output_file: "" # if empty, metrics are not written to file ego_frame: base_link # reference frame of ego selected_metrics: diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp index 8193472c4dc39..7eed6e5645abc 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp @@ -61,7 +61,7 @@ class MotionEvaluatorNode : public rclcpp::Node std::unique_ptr tf_listener_ptr_; // Parameters - std::string output_file_str_; + bool output_metrics_; // Calculator MetricsCalculator metrics_calculator_; diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 0f4b8f7289a4f..9c268206846d9 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -61,7 +61,7 @@ class PlanningEvaluatorNode : public rclcpp::Node { public: explicit PlanningEvaluatorNode(const rclcpp::NodeOptions & node_options); - ~PlanningEvaluatorNode(); + ~PlanningEvaluatorNode() override; /** * @brief callback on receiving an odometry @@ -97,17 +97,17 @@ class PlanningEvaluatorNode : public rclcpp::Node const Odometry::ConstSharedPtr ego_state_ptr); /** - * @brief publish the given metric statistic + * @brief add the given metric statistic */ void AddMetricMsg(const Metric & metric, const Accumulator & metric_stat); /** - * @brief publish current ego lane info + * @brief add current ego lane info */ void AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr); /** - * @brief publish current ego kinematic state + * @brief add current ego kinematic state */ void AddKinematicStateMetricMsg( const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr); @@ -155,15 +155,15 @@ class PlanningEvaluatorNode : public rclcpp::Node MetricArrayMsg metrics_msg_; // Parameters - std::string output_file_str_; + bool output_metrics_; std::string ego_frame_str_; // Calculator MetricsCalculator metrics_calculator_; // Metrics std::vector metrics_; - std::deque stamps_; - std::array>, static_cast(Metric::SIZE)> metric_stats_; + std::array, 3>, static_cast(Metric::SIZE)> + metric_accumulators_; // 3(min, max, mean) * metric_size rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; diff --git a/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml index 6558d0b568c94..042d2458ae1da 100644 --- a/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml @@ -1,7 +1,10 @@ + + + diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml index 90c205dd55f1f..967668793a1e7 100644 --- a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml @@ -1,4 +1,6 @@ + + @@ -12,6 +14,7 @@ + diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 15d5d6da8504d..4389b2e52f44d 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_planning_evaluator - 0.38.0 + 0.40.0 ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara @@ -22,6 +22,7 @@ eigen geometry_msgs nav_msgs + nlohmann-json-dev pluginlib rclcpp rclcpp_components diff --git a/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json b/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json index e7efbe06a8c00..1ef3874a0dcbc 100644 --- a/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json +++ b/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json @@ -6,10 +6,10 @@ "autoware_planning_evaluator": { "type": "object", "properties": { - "output_file": { - "description": "output metrics file path", - "type": "string", - "default": "" + "output_metrics": { + "description": "If true, the evaluation node writes the metrics' statics to `/autoware_metrics/-.json` when the node shut down,", + "type": "boolean", + "default": "false" }, "ego_frame": { "description": "reference frame of ego", diff --git a/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp index a5320ef28cbec..ac6f35179f771 100644 --- a/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp @@ -14,8 +14,11 @@ #include "autoware/planning_evaluator/motion_evaluator_node.hpp" +#include + +#include +#include #include -#include #include #include #include @@ -32,7 +35,7 @@ MotionEvaluatorNode::MotionEvaluatorNode(const rclcpp::NodeOptions & node_option "~/input/twist", rclcpp::QoS{1}, std::bind(&MotionEvaluatorNode::onOdom, this, std::placeholders::_1)); - output_file_str_ = declare_parameter("output_file"); + output_metrics_ = declare_parameter("output_metrics"); // List of metrics to calculate for (const std::string & selected_metric : @@ -44,22 +47,51 @@ MotionEvaluatorNode::MotionEvaluatorNode(const rclcpp::NodeOptions & node_option MotionEvaluatorNode::~MotionEvaluatorNode() { - // column width is the maximum size we might print + 1 for the space between columns - const auto column_width = 20; // std::to_string(std::numeric_limits::max()).size() + 1; - // Write data using format - std::ofstream f(output_file_str_); - f << std::fixed << std::left; - for (Metric metric : metrics_) { - f << std::setw(3 * column_width) << metric_descriptions.at(metric); + if (!output_metrics_) { + return; } - f << std::endl; + + // generate json data + using json = nlohmann::json; + json j; for (Metric metric : metrics_) { + const std::string base_name = metric_to_str.at(metric) + "/"; const auto & stat = metrics_calculator_.calculate(metric, accumulated_trajectory_); if (stat) { - f /* << std::setw(3 * column_width) */ << *stat << " "; + j[base_name + "min"] = stat->min(); + j[base_name + "max"] = stat->max(); + j[base_name + "mean"] = stat->mean(); } } - f.close(); + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; + } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_motion_evaluator-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); + f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); + } } void MotionEvaluatorNode::onOdom(const nav_msgs::msg::Odometry::SharedPtr msg) diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index d770833bc40a8..a61e56cd532ad 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -16,13 +16,16 @@ #include #include +#include #include #include "boost/lexical_cast.hpp" +#include +#include #include -#include +#include #include #include #include @@ -50,7 +53,7 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op metrics_calculator_.parameters.obstacle.dist_thr_m = declare_parameter("obstacle.dist_thr_m"); - output_file_str_ = declare_parameter("output_file"); + output_metrics_ = declare_parameter("output_metrics"); ego_frame_str_ = declare_parameter("ego_frame"); processing_time_pub_ = @@ -67,34 +70,49 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op PlanningEvaluatorNode::~PlanningEvaluatorNode() { - if (!output_file_str_.empty()) { - // column width is the maximum size we might print + 1 for the space between columns - // Write data using format - std::ofstream f(output_file_str_); - f << std::fixed << std::left; - // header - f << "#Stamp(ns)"; - for (Metric metric : metrics_) { - f << " " << metric_descriptions.at(metric); - f << " . ."; // extra "columns" to align columns headers - } - f << std::endl; - f << "#."; - for (Metric metric : metrics_) { - (void)metric; - f << " min max mean"; - } - f << std::endl; - // data - for (size_t i = 0; i < stamps_.size(); ++i) { - f << stamps_[i].nanoseconds(); - for (Metric metric : metrics_) { - const auto & stat = metric_stats_[static_cast(metric)][i]; - f << " " << stat; - } - f << std::endl; + if (!output_metrics_) { + return; + } + + // generate json data + using json = nlohmann::json; + json j; + for (Metric metric : metrics_) { + const std::string base_name = metric_to_str.at(metric) + "/"; + j[base_name + "min"] = metric_accumulators_[static_cast(metric)][0].min(); + j[base_name + "max"] = metric_accumulators_[static_cast(metric)][1].max(); + j[base_name + "mean"] = metric_accumulators_[static_cast(metric)][2].mean(); + j[base_name + "count"] = metric_accumulators_[static_cast(metric)][2].count(); + j[base_name + "description"] = metric_descriptions.at(metric); + } + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_planning_evaluator-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); } } @@ -269,9 +287,6 @@ void PlanningEvaluatorNode::onTrajectory( } auto start = now(); - if (!output_file_str_.empty()) { - stamps_.push_back(traj_msg->header.stamp); - } for (Metric metric : metrics_) { const auto metric_stat = metrics_calculator_.calculate(Metric(metric), *traj_msg); @@ -279,8 +294,10 @@ void PlanningEvaluatorNode::onTrajectory( continue; } - if (!output_file_str_.empty()) { - metric_stats_[static_cast(metric)].push_back(*metric_stat); + if (output_metrics_) { + metric_accumulators_[static_cast(metric)][0].add(metric_stat->min()); + metric_accumulators_[static_cast(metric)][1].add(metric_stat->max()); + metric_accumulators_[static_cast(metric)][2].add(metric_stat->mean()); } if (metric_stat->count() > 0) { @@ -308,7 +325,11 @@ void PlanningEvaluatorNode::onModifiedGoal( if (!metric_stat) { continue; } - metric_stats_[static_cast(metric)].push_back(*metric_stat); + if (output_metrics_) { + metric_accumulators_[static_cast(metric)][0].add(metric_stat->min()); + metric_accumulators_[static_cast(metric)][1].add(metric_stat->max()); + metric_accumulators_[static_cast(metric)][2].add(metric_stat->mean()); + } if (metric_stat->count() > 0) { AddMetricMsg(metric, *metric_stat); } diff --git a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp index ac99d164708ba..f202bb4ab0e6f 100644 --- a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp @@ -27,6 +27,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include @@ -53,7 +54,8 @@ class EvalTest : public ::testing::Test const auto share_dir = ament_index_cpp::get_package_share_directory("autoware_planning_evaluator"); options.arguments( - {"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml"}); + {"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml", "-p", + "output_metrics:=false"}); dummy_node = std::make_shared("planning_evaluator_test_node"); eval_node = std::make_shared(options); diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst index ceacbcf0b129d..2283ea3b36a95 100644 --- a/evaluator/kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/kinematic_evaluator/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package kinematic_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml index 99254d06d0642..fbd5df3f27765 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/kinematic_evaluator/package.xml @@ -1,7 +1,7 @@ kinematic_evaluator - 0.38.0 + 0.40.0 kinematic evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp b/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp index 51e6113aea999..769f98416848f 100644 --- a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp +++ b/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp @@ -26,6 +26,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst index 62f63139999e2..0c24579d3004d 100644 --- a/evaluator/localization_evaluator/CHANGELOG.rst +++ b/evaluator/localization_evaluator/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package localization_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* chore(localization_evaluator): Add some maintainers (`#9503 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Motz, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index b9d6285a0f08c..7058064f17b72 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -1,7 +1,7 @@ localization_evaluator - 0.38.0 + 0.40.0 localization evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp b/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp index cd6a7b80fd35b..6ab428c6fb578 100644 --- a/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp +++ b/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp @@ -27,6 +27,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst index 643dec851d0fa..c3ffd03cce3b1 100644 --- a/evaluator/perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/perception_online_evaluator/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package perception_online_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs (`#9485 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/perception_online_evaluator/README.md index 7df375ac236d0..17e7e1a2b5652 100644 --- a/evaluator/perception_online_evaluator/README.md +++ b/evaluator/perception_online_evaluator/README.md @@ -155,11 +155,11 @@ where: ## Inputs / Outputs -| Name | Type | Description | -| ----------------- | ------------------------------------------------- | ------------------------------------------------- | -| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate. | -| `~/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostic information about perception accuracy. | -| `~/markers` | `visualization_msgs::msg::MarkerArray` | Visual markers for debugging and visualization. | +| Name | Type | Description | +| ----------------- | ------------------------------------------------- | ----------------------------------------------- | +| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate. | +| `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | Metric information about perception accuracy. | +| `~/markers` | `visualization_msgs::msg::MarkerArray` | Visual markers for debugging and visualization. | ## Parameters diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp index ea560a48f928b..61c1ba40134df 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -23,9 +23,10 @@ #include "tf2_ros/transform_listener.h" #include "autoware_perception_msgs/msg/predicted_objects.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "nav_msgs/msg/odometry.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include +#include #include #include @@ -38,8 +39,6 @@ namespace perception_diagnostics using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObjects; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; using nav_msgs::msg::Odometry; using TFMessage = tf2_msgs::msg::TFMessage; @@ -60,15 +59,34 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node */ void onObjects(const PredictedObjects::ConstSharedPtr objects_msg); - DiagnosticStatus generateDiagnosticStatus( - const std::string metric, const Accumulator & metric_stat) const; - DiagnosticStatus generateDiagnosticStatus( - const std::string & metric, const double metric_value) const; + /** + * @brief Convert metric statistic to `tier4_metric_msgs::msg::Metric` and append to + * `tier4_metric_msgs::msg::MetricArray`. + * + * @param metric Metric name. + * @param metric_stat Metric statistic. + * @param metrics_msg Metrics value container. + */ + void toMetricMsg( + const std::string & metric, const Accumulator & metric_stat, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const; + + /** + * @brief Convert metric value to `tier4_metric_msgs::msg::Metric` and append to + * `tier4_metric_msgs::msg::MetricArray + * + * @param metric Metric name. + * @param metric_stat Metric value. + * @param metrics_msg Metrics value container. + */ + void toMetricMsg( + const std::string & metric, const double metric_value, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const; private: // Subscribers and publishers rclcpp::Subscription::SharedPtr objects_sub_; - rclcpp::Publisher::SharedPtr metrics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; rclcpp::Publisher::SharedPtr pub_marker_; // TF diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index 654586a76453d..94575a0adbb4c 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -2,7 +2,7 @@ perception_online_evaluator - 0.38.0 + 0.40.0 ROS 2 node for evaluating perception Fumiya Watanabe Kosuke Takeuchi @@ -23,7 +23,6 @@ autoware_perception_msgs autoware_universe_utils autoware_vehicle_info_utils - diagnostic_msgs eigen geometry_msgs glog @@ -33,6 +32,7 @@ rclcpp_components tf2 tf2_ros + tier4_metric_msgs ament_cmake_ros ament_index_cpp diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp index ab69ea9cb8c7b..4a1d97aeeb90b 100644 --- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp +++ b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp @@ -20,6 +20,11 @@ #include +#include +#include +#include +#include + namespace perception_diagnostics { namespace metrics diff --git a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp index 8570cf246f430..292fc9cd65a17 100644 --- a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp @@ -19,6 +19,8 @@ #include +#include + namespace perception_diagnostics { namespace metrics diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index abbdbd382498a..7d8344c24819c 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -50,7 +50,7 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode( objects_sub_ = create_subscription( "~/input/objects", 1, std::bind(&PerceptionOnlineEvaluatorNode::onObjects, this, _1)); - metrics_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); pub_marker_ = create_publisher("~/markers", 10); tf_buffer_ = std::make_unique(this->get_clock()); @@ -65,7 +65,8 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode( void PerceptionOnlineEvaluatorNode::publishMetrics() { - DiagnosticArray metrics_msg; + // DiagnosticArray metrics_msg; + tier4_metric_msgs::msg::MetricArray metrics_msg; // calculate metrics for (const Metric & metric : parameters_->metrics) { @@ -80,10 +81,10 @@ void PerceptionOnlineEvaluatorNode::publishMetrics() for (const auto & [metric, value] : arg) { if constexpr (std::is_same_v) { if (value.count() > 0) { - metrics_msg.status.emplace_back(generateDiagnosticStatus(metric, value)); + toMetricMsg(metric, value, metrics_msg); } } else if constexpr (std::is_same_v) { - metrics_msg.status.emplace_back(generateDiagnosticStatus(metric, value)); + toMetricMsg(metric, value, metrics_msg); } } }, @@ -91,49 +92,44 @@ void PerceptionOnlineEvaluatorNode::publishMetrics() } // publish metrics - if (!metrics_msg.status.empty()) { - metrics_msg.header.stamp = now(); + if (!metrics_msg.metric_array.empty()) { + metrics_msg.stamp = now(); metrics_pub_->publish(metrics_msg); } publishDebugMarker(); } -DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus( - const std::string metric, const Accumulator & metric_stat) const +void PerceptionOnlineEvaluatorNode::toMetricMsg( + const std::string & metric, const Accumulator & metric_stat, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const { - DiagnosticStatus status; - - status.level = status.OK; - status.name = metric; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "min"; - key_value.value = std::to_string(metric_stat.min()); - status.values.push_back(key_value); - key_value.key = "max"; - key_value.value = std::to_string(metric_stat.max()); - status.values.push_back(key_value); - key_value.key = "mean"; - key_value.value = std::to_string(metric_stat.mean()); - status.values.push_back(key_value); - - return status; + // min value + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/min") + .unit("") + .value(std::to_string(metric_stat.min()))); + + // max value + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/max") + .unit("") + .value(std::to_string(metric_stat.max()))); + + // mean value + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/mean") + .unit("") + .value(std::to_string(metric_stat.mean()))); } -DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus( - const std::string & metric, const double value) const +void PerceptionOnlineEvaluatorNode::toMetricMsg( + const std::string & metric, const double metric_value, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const { - DiagnosticStatus status; - - status.level = status.OK; - status.name = metric; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metric_value"; - key_value.value = std::to_string(value); - status.values.push_back(key_value); - - return status; + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/metric_value") + .unit("") + .value(std::to_string(metric_value))); } void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg) diff --git a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp index 0c6d1cac4246e..7489447ccb47e 100644 --- a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp +++ b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp @@ -24,7 +24,10 @@ #include #include +#include #include +#include +#include namespace marker_utils { diff --git a/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp b/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp index 6ffb80eb40b59..13bd820f18cec 100644 --- a/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp +++ b/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp @@ -14,6 +14,9 @@ #include "perception_online_evaluator/utils/objects_filtering.hpp" +#include +#include + namespace perception_diagnostics { namespace filter diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index e2ab22be2b61b..ffefee835f933 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include #include "boost/lexical_cast.hpp" @@ -29,6 +29,8 @@ #include #include +#include +#include #include #include #include @@ -37,7 +39,6 @@ using EvalNode = perception_diagnostics::PerceptionOnlineEvaluatorNode; using PredictedObjects = autoware_perception_msgs::msg::PredictedObjects; using PredictedObject = autoware_perception_msgs::msg::PredictedObject; -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; using MarkerArray = visualization_msgs::msg::MarkerArray; using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification; using nav_msgs::msg::Odometry; @@ -125,36 +126,29 @@ class EvalTest : public ::testing::Test tf_pub_->publish(tf_msg); } - void setTargetMetric(perception_diagnostics::Metric metric) + void setTargetMetric(const perception_diagnostics::Metric & metric) { const auto metric_str = perception_diagnostics::metric_to_str.at(metric); setTargetMetric(metric_str); } - void setTargetMetric(std::string metric_str) + void setTargetMetric(const std::string & metric_str) { - const auto is_target_metric = [metric_str](const auto & status) { - return status.name == metric_str; - }; - metric_sub_ = rclcpp::create_subscription( + metric_sub_ = rclcpp::create_subscription( eval_node, "/perception_online_evaluator/metrics", 1, - [=](const DiagnosticArray::ConstSharedPtr msg) { - const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); - if (it != msg->status.end()) { - const auto mean_it = std::find_if( - it->values.begin(), it->values.end(), - [](const auto & key_value) { return key_value.key == "mean"; }); - if (mean_it != it->values.end()) { - metric_value_ = boost::lexical_cast(mean_it->value); - } else { - const auto metric_value_it = std::find_if( - it->values.begin(), it->values.end(), - [](const auto & key_value) { return key_value.key == "metric_value"; }); - if (metric_value_it != it->values.end()) { - metric_value_ = boost::lexical_cast(metric_value_it->value); - } - } + [this, metric_str](const tier4_metric_msgs::msg::MetricArray::ConstSharedPtr msg) { + // extract a metric whose name includes metrics_str + const auto it = std::find_if( + msg->metric_array.begin(), msg->metric_array.end(), [&metric_str](const auto & metric) { + return metric.name == metric_str + "/metric_value" || + metric.name == metric_str + "/mean"; + }); + + if (it != msg->metric_array.end()) { + metric_value_ = boost::lexical_cast(it->value); metric_updated_ = true; + } else { + metric_updated_ = false; } }); } @@ -316,7 +310,7 @@ class EvalTest : public ::testing::Test // Pub/Sub rclcpp::Publisher::SharedPtr objects_pub_; - rclcpp::Subscription::SharedPtr metric_sub_; + rclcpp::Subscription::SharedPtr metric_sub_; rclcpp::Subscription::SharedPtr marker_sub_; rclcpp::Publisher::SharedPtr tf_pub_; bool has_received_marker_{false}; diff --git a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst index 0c41ad6263d8b..7b583a3da7959 100644 --- a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst +++ b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst @@ -1,80 +1,498 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package diagnostic_converter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package scenario_simulator_v2_adapter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -0.38.0 (2024-11-08) +0.40.0 (2024-12-12) ------------------- -* unify package.xml version to 0.37.0 -* Contributors: Yutaka Kondo +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) +* 0.39.0 +* fix version +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) +* 0.39.0 +* fix version +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo -0.26.0 (2024-04-03) +0.39.0 (2024-11-25) ------------------- -* fix(diagnostic_converter): move headers to a separate directory (`#5943 `_) - * fix(diagnostic_converter): move headers to a separate directory +* chore(package.xml): bump version to 0.39.0 (`#9435 `_) + * chore: update CODEOWNERS (`#9203 `_) + Co-authored-by: github-actions + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) - * build: mark autoware_cmake as - with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review * style(pre-commit): autofix - * chore: fix pre-commit errors --------- + Co-authored-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - Co-authored-by: Kenji Miyake -* feat(diagnostic_converter): remove unit and blank in the value (`#3151 `_) - * feat(diagnostic_converter): remove unit and blank in the value - * fix - --------- -* feat(diagnostic_converter): apply regex for topic name (`#3149 `_) -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) - * add original diagnostic_convertor - * add test - * fix typo - * delete file - * change include - * temp - * delete comments - * made launch for converter - * ci(pre-commit): autofix - * ci(pre-commit): autofix - * add diagnostic convertor in launch - * ci(pre-commit): autofix - * change debug from info - * change arg name to launch diagnostic convertor - * add planning_evaluator launcher in simulator.launch.xml - * fix arg wrong setting + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright * style(pre-commit): autofix - * use simulation msg in tier4_autoware_msgs + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title * style(pre-commit): autofix - * fix README + * Fixed include hierarchy * style(pre-commit): autofix - * refactoring + * Fixed include hierarchy * style(pre-commit): autofix - * remove unnecessary dependency - * remove unnecessary dependency - * move folder - * reformat + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell * style(pre-commit): autofix - * Update evaluator/diagnostic_converter/include/converter_node.hpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Update evaluator/diagnostic_converter/README.md - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Update evaluator/diagnostic_converter/src/converter_node.cpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Update evaluator/diagnostic_converter/test/test_converter_node.cpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * define diagnostic_topics as parameter - * fix include way - * fix include way - * delete ament_cmake_clang_format from package.xml - * fix test_depend - * Update evaluator/diagnostic_converter/test/test_converter_node.cpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ * style(pre-commit): autofix - * Update launch/tier4_simulator_launch/launch/simulator.launch.xml + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- + * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber + * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived + * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests + * feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch + * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- + * fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- + * test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- + * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) + * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) + * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) + * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii + * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) + * refactor(map_based_prediction): move member functions to utils (`#9225 `_) + * test(crosswalk): add unit test (`#9228 `_) + * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings + * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) + * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) + * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml + * feat(autoware_test_utils): add general topic dumper (`#9207 `_) + * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ + * fix(autoware_rtc_interface): fix dependency (`#9237 `_) + * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- + * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) + * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) + * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) + * chore(autoware_geography_utils): update maintainers (`#9246 `_) + * update maintainers + * add author + --------- + * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- + * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) + * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- + * fix: missing dependency in common components (`#9072 `_) + * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- + * feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray + * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- + * feat(detection_area)!: add retruction feature (`#9255 `_) + * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) + * fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- + * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) + * fix(bpp): prevent accessing nullopt (`#9269 `_) + * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. + * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) + * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) + * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) + * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) + * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- + * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes + * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- + * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori + * ci(.github): update image tags (`#9286 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- + * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- + * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error + * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings + * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) + * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) + * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- + * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) + * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi + * fix(control): missing dependency in control components (`#9073 `_) + * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- + * fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- + * feat(goal_planner): safety check with only parking path (`#9293 `_) + * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) + * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons + * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) + * feat(autoware_trajectory): change default value of min_points (`#9315 `_) + * chore(codecov): update maintained packages (`#9316 `_) + * doc: fix links to design documents (`#9301 `_) + * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) + * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * add changelog + * update changelog + * fix version + * 0.39.0 + * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- + * update version + --------- + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: github-actions + Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* Contributors: Esteve Fernandez, Kyoichi Sugahara, Takayuki Murooka, Vincent Richard + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: Mamoru Sobue + Co-authored-by: SakodaShintaro + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> + Co-authored-by: Ryuta Kambe + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> + Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> + Co-authored-by: danielsanchezaran + Co-authored-by: Yamato Ando + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> + Co-authored-by: ぐるぐる + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + Co-authored-by: iwatake + Co-authored-by: Kosuke Takeuchi + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + Co-authored-by: Kyoichi Sugahara + Co-authored-by: Giovanni Muhammad Raditya + Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> + Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> + Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com> + Co-authored-by: Masaki Baba +* Contributors: Yutaka Kondo + +0.38.0 (2024-11-11) +------------------- diff --git a/evaluator/scenario_simulator_v2_adapter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml index ae6b49671a774..3922bc84d78d5 100644 --- a/evaluator/scenario_simulator_v2_adapter/package.xml +++ b/evaluator/scenario_simulator_v2_adapter/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2_adapter - 0.5.6 + 0.40.0 Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT diff --git a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp index 98d36327793fe..4c0464b8b2d41 100644 --- a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp +++ b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp @@ -15,6 +15,8 @@ #include "scenario_simulator_v2_adapter/converter_node.hpp" #include +#include +#include namespace { diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index c4dc5fba123fb..5892c238a3bd6 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_autoware_api_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index 2af274907306a..45df577f28f29 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -2,7 +2,7 @@ tier4_autoware_api_launch - 0.38.0 + 0.40.0 The tier4_autoware_api_launch package Takagi, Isamu Ryohsuke Mitsudome diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index 11f7420e9e513..3f94ac4f2b2e0 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -2,6 +2,104 @@ Changelog for package tier4_control_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) + Fixed autoware_glog_compontnt +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) + * refactor and add output_metrics. a bug existing when psim. + * refactored launch file. + * output description + * add parm to launch file. + * move output_metrics from param config to launch file. + * move output_metrics from config to launch.xml + * fix unit test bug. + * fix test bug again. + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_control_launch): use preset.yaml to control which modules to launch for control modules (`#9351 `_) + * update contro.launch for preset.xml + * update options. + * fix bug. + * rename to enable\_* + * check group. + * space. + * reduce num of load_composable_node. + * tmp save. + * tmp save. + * splite control modules' launch. + * final version + * remove on/off option for shift decider, vehicle cmd gate, and operation mode transition manager + * pre-commit + --------- +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- +* feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kem (TiankuiXian), Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo, danielsanchezaran + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- +* feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, danielsanchezaran + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index 899db1448dbf8..2b0339f1c5cad 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -51,7 +51,7 @@ - + @@ -177,7 +177,7 @@ - + @@ -269,21 +269,11 @@ + - - - - - - - - - - - - - - + + + diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index a6a57e0b02716..d9a2f9883cbce 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -2,7 +2,7 @@ tier4_control_launch - 0.38.0 + 0.40.0 The tier4_control_launch package Takamasa Horibe Takayuki Murooka diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index b7d0b8cf8169d..991f04240d04d 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_localization_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 89627ad420afc..55c9c59a2b000 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -2,7 +2,7 @@ tier4_localization_launch - 0.38.0 + 0.40.0 The tier4_localization_launch package Yamato Ando Kento Yabuuchi diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index e1ee86c71fc15..5ba95030bf15b 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -2,6 +2,62 @@ Changelog for package tier4_map_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index a5120987605f5..ba512960af1b2 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -2,7 +2,7 @@ tier4_map_launch - 0.38.0 + 0.40.0 The tier4_map_launch package Ryu Yamamoto Kento Yabuuchi diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index b0cb6c69d6892..b8ac734476a36 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_perception_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml index cc9fe78b748a4..ce13a742c6202 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml @@ -15,6 +15,7 @@ + @@ -68,21 +69,23 @@ + + - - + + - - + + - - + + - - + + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 5c04cc3e10679..83c7c202e8c0a 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -272,6 +272,7 @@ + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 22c664b998a2c..613223fa960bd 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -2,7 +2,7 @@ tier4_perception_launch - 0.38.0 + 0.40.0 The tier4_perception_launch package Yukihiro Saito Shunsuke Miura diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index c66ad480472ca..efa4a02803c46 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package tier4_planning_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) + Fixed autoware_glog_compontnt +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, SakodaShintaro, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index dad351dec40e8..3579884064d5d 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -255,7 +255,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index b303134ab80c3..555e8da787013 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -27,7 +27,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml index e0fdcb1e30408..1daeebe87d4eb 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml @@ -32,7 +32,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 9082ebab013ed..d90515f6cb335 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -44,7 +44,7 @@ - + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index f0fe45a46d92a..0a6e9d7fce13a 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -2,7 +2,7 @@ tier4_planning_launch - 0.38.0 + 0.40.0 The tier4_planning_launch package @@ -63,6 +63,7 @@ autoware_external_cmd_selector autoware_external_velocity_limit_selector autoware_freespace_planner + autoware_glog_component autoware_mission_planner autoware_obstacle_cruise_planner autoware_obstacle_stop_planner @@ -74,7 +75,6 @@ autoware_scenario_selector autoware_surround_obstacle_checker autoware_velocity_smoother - glog_component ament_lint_auto autoware_lint_common diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index be5bb4dd8fce6..7e6e12e53a08c 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_sensing_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index d4e03219b2299..6e7553ac9f8f0 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -2,7 +2,7 @@ tier4_sensing_launch - 0.38.0 + 0.40.0 The tier4_sensing_launch package Yukihiro Saito Apache License 2.0 diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index 14927284d98a7..569da150b16ae 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -2,6 +2,96 @@ Changelog for package tier4_simulator_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 `_) + * add autoware prefix + * fix conflict + --------- + Co-authored-by: Yamato Ando +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index e1226ee63f5e2..4b2cefa02c2fa 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -188,9 +188,9 @@ - + - + diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index 6452241dc3f72..19bc81b056b60 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -2,7 +2,7 @@ tier4_simulator_launch - 0.38.0 + 0.40.0 The tier4_simulator_launch package Keisuke Shima Takayuki Murooka diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index d42dea8eb7b24..9ffb34c4599a9 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_system_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 6d335269f734d..9f5678b937dbc 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -2,7 +2,7 @@ tier4_system_launch - 0.38.0 + 0.40.0 The tier4_system_launch package Fumihito Ito TetsuKawa diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index dfd9f0759abfc..1b5a1271e9fe3 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_vehicle_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 9a8c03c62a7b3..583bbf325db05 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_launch - 0.38.0 + 0.40.0 The tier4_vehicle_launch package Yukihiro Saito Apache License 2.0 diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst index bce88cb58f6c5..b8e74c530e059 100644 --- a/localization/autoware_ekf_localizer/CHANGELOG.rst +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -2,6 +2,52 @@ Changelog for package autoware_ekf_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* fix(autoware_ekf_localizer): publish `processing_time_ms` (`#9443 `_) + Fixed to publish processing_time_ms +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ +* Contributors: Esteve Fernandez, SakodaShintaro, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml index c9abefcd5e849..8dc3cc9844c50 100644 --- a/localization/autoware_ekf_localizer/package.xml +++ b/localization/autoware_ekf_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ekf_localizer - 0.38.0 + 0.40.0 The autoware_ekf_localizer package Takamasa Horibe Yamato Ando diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp index 7e2606cdc3860..d34be2a537ef1 100644 --- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp +++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp @@ -33,6 +33,7 @@ #include #include #include +#include namespace autoware::ekf_localizer { diff --git a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp index 9cf56b80bb79a..dc9ef008335ed 100644 --- a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp +++ b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::ekf_localizer { diff --git a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp index 979f4c75deb84..165102adec1d7 100644 --- a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp +++ b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp @@ -16,6 +16,9 @@ #include +#include +#include + namespace autoware::ekf_localizer { diff --git a/localization/autoware_ekf_localizer/test/test_numeric.cpp b/localization/autoware_ekf_localizer/test/test_numeric.cpp index 8071804f48304..080ce01f31770 100644 --- a/localization/autoware_ekf_localizer/test/test_numeric.cpp +++ b/localization/autoware_ekf_localizer/test/test_numeric.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::ekf_localizer { diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index 41729bbef184c..1b45974da9cc2 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_geo_pose_projector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_geo_pose_projector/README.md b/localization/autoware_geo_pose_projector/README.md index 2dd83a2077aab..a3cc5d3b308e3 100644 --- a/localization/autoware_geo_pose_projector/README.md +++ b/localization/autoware_geo_pose_projector/README.md @@ -9,7 +9,7 @@ This node is a simple node that subscribes to the geo-referenced pose topic and | Name | Type | Description | | ------------------------- | ---------------------------------------------------- | ------------------- | | `input_geo_pose` | `geographic_msgs::msg::GeoPoseWithCovarianceStamped` | geo-referenced pose | -| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectedObjectInfo` | map projector info | +| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectedObjectInfo` | map projector info | ## Published Topics diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 7425b964a0d5d..6dda1d6418406 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -2,7 +2,7 @@ autoware_geo_pose_projector - 0.38.0 + 0.40.0 The autoware_geo_pose_projector package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp index c3bf074f73aeb..0db808257f639 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp @@ -17,6 +17,8 @@ #include #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index b2a293af33018..529fe48f7b459 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_gyro_odometer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml index 41626e3f8c70b..87474c0b13c0f 100644 --- a/localization/autoware_gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -2,7 +2,7 @@ autoware_gyro_odometer - 0.38.0 + 0.40.0 The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index d74b537c50fdd..36d7431a499ff 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_ar_tag_based_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml index 4ff6c0c9ca9b1..4aab7e0b5cdaf 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ar_tag_based_localizer - 0.38.0 + 0.40.0 The autoware_ar_tag_based_localizer package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index 2418cf3f5dd1c..9d2a8bf814694 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -51,6 +51,10 @@ #include #include +#include +#include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp index 295737ed723a5..5c2cbf3957de0 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index 1c08781d5e233..f6d4cf6766e84 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_landmark_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml index a5250d6c81afc..c33b8a751ce7f 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml @@ -2,7 +2,7 @@ autoware_landmark_manager - 0.38.0 + 0.40.0 The autoware_landmark_manager package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp index 04823a71febe9..a4ab83cde6dfa 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp @@ -24,6 +24,10 @@ #include #include +#include +#include +#include + namespace landmark_manager { diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index 4d154f8e365f9..a7edd5b7d2a69 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_lidar_marker_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml index 91976ab1a74e1..c365f7ef040dc 100755 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -2,7 +2,7 @@ autoware_lidar_marker_localizer - 0.38.0 + 0.40.0 The autoware_lidar_marker_localizer package Yamato Ando Shintaro Sakoda diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp index 947ba02402697..2faf2d19168a5 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp @@ -31,9 +31,11 @@ #include #include #include +#include #include #include #include +#include namespace autoware::lidar_marker_localizer { diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index d24c1d7ac4bce..e9583916e2e8f 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_localization_error_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml index e07445b878d9c..f7f9e635e85d6 100644 --- a/localization/autoware_localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -2,7 +2,7 @@ autoware_localization_error_monitor - 0.38.0 + 0.40.0 ros node for monitoring localization error Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst index 7dae713216362..be40e3ee8560e 100644 --- a/localization/autoware_localization_util/CHANGELOG.rst +++ b/localization/autoware_localization_util/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_localization_util ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_localization_util/package.xml b/localization/autoware_localization_util/package.xml index 49330e04c8b2f..89ad7c24840dd 100644 --- a/localization/autoware_localization_util/package.xml +++ b/localization/autoware_localization_util/package.xml @@ -2,7 +2,7 @@ autoware_localization_util - 0.38.0 + 0.40.0 The autoware_localization_util package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_localization_util/src/covariance_ellipse.cpp b/localization/autoware_localization_util/src/covariance_ellipse.cpp index 4a7d71909fb7a..847f89e0da9b3 100644 --- a/localization/autoware_localization_util/src/covariance_ellipse.cpp +++ b/localization/autoware_localization_util/src/covariance_ellipse.cpp @@ -15,6 +15,8 @@ #include "autoware/localization_util/covariance_ellipse.hpp" #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp b/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp index 064b33ebe3ad9..e9f0318d1e06d 100644 --- a/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp +++ b/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp @@ -17,7 +17,10 @@ #include #include #include +#include #include +#include +#include namespace autoware::localization_util { diff --git a/localization/autoware_localization_util/src/util_func.cpp b/localization/autoware_localization_util/src/util_func.cpp index 6b019f7750471..17187a8d732f0 100644 --- a/localization/autoware_localization_util/src/util_func.cpp +++ b/localization/autoware_localization_util/src/util_func.cpp @@ -16,6 +16,9 @@ #include "autoware/localization_util/matrix_type.hpp" +#include +#include + namespace autoware::localization_util { // ref by http://takacity.blog.fc2.com/blog-entry-69.html diff --git a/localization/autoware_localization_util/test/test_tpe.cpp b/localization/autoware_localization_util/test/test_tpe.cpp index 6cbe3c2a62571..2d71a385246b7 100644 --- a/localization/autoware_localization_util/test/test_tpe.cpp +++ b/localization/autoware_localization_util/test/test_tpe.cpp @@ -16,6 +16,12 @@ #include +#include +#include +#include +#include +#include + using TreeStructuredParzenEstimator = autoware::localization_util::TreeStructuredParzenEstimator; TEST(TreeStructuredParzenEstimatorTest, TPE_is_better_than_random_search_on_sphere_function) diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index 36b7becac9be0..8040641aa2cef 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -2,6 +2,121 @@ Changelog for package autoware_ndt_scan_matcher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_ndt_scan_matcher): remove unsed functions (`#9387 `_) +* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) +* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests +* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kento Osa, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) +* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests +* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kento Osa, Ryuta Kambe, SakodaShintaro, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h index 00c567775a6bf..b7c9877739123 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h @@ -67,6 +67,7 @@ #include +#include #include #include diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index 9e5b3dabbbc27..f2047418310aa 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -2,7 +2,7 @@ autoware_ndt_scan_matcher - 0.38.0 + 0.40.0 The autoware_ndt_scan_matcher package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp b/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp index 31e0ae2eb1a59..25b51b55aebd7 100644 --- a/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp @@ -14,6 +14,9 @@ #include "autoware/ndt_scan_matcher/map_update_module.hpp" +#include +#include + namespace autoware::ndt_scan_matcher { diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp index 3c6e8a3d5d2f0..d8a576a86879b 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp @@ -14,8 +14,12 @@ #include "autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp" +#include #include #include +#include +#include +#include namespace pclomp { diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index a316c8fa346b9..a1871023d525b 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -25,6 +25,11 @@ #include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/localization/autoware_ndt_scan_matcher/src/particle.cpp b/localization/autoware_ndt_scan_matcher/src/particle.cpp index a5db875fc3ff7..7211d612b7a21 100644 --- a/localization/autoware_ndt_scan_matcher/src/particle.cpp +++ b/localization/autoware_ndt_scan_matcher/src/particle.cpp @@ -15,6 +15,8 @@ #include "autoware/ndt_scan_matcher/particle.hpp" #include "autoware/localization_util/util_func.hpp" + +#include namespace autoware::ndt_scan_matcher { diff --git a/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp b/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp index b0b7dfe50b4ed..f82bb5fd03fea 100644 --- a/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp +++ b/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp @@ -28,6 +28,7 @@ #include #include +#include #include #include #include diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index 653daf8d9a34c..3f17982f52f31 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_pose2twist ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index 74ae9b8a10de7..3fd16856ef6af 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -2,7 +2,7 @@ autoware_pose2twist - 0.38.0 + 0.40.0 The autoware_pose2twist package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index e59dee39371e3..6fc366d3d01d5 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_pose_covariance_modifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index 2c0f9ae142370..7825bd59b78f9 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -2,7 +2,7 @@ autoware_pose_covariance_modifier - 0.38.0 + 0.40.0 Add a description. Melike Tanrikulu diff --git a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp index 53d6ecb244f3e..1fa24c7b4f99c 100644 --- a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp +++ b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp @@ -21,6 +21,8 @@ #include #include +#include + namespace autoware::pose_covariance_modifier { using PoseSource = PoseCovarianceModifierNode::PoseSource; diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 37bf54b3d27ee..381b77546e008 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_pose_estimator_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_pose_estimator_arbiter): add missing include (`#9376 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp index 41ad45430d238..b2e06118b4569 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp @@ -23,6 +23,8 @@ #include #include +#include +#include #include #include diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp index cc5414ebd0a68..023b49c854621 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp @@ -16,6 +16,9 @@ #include +#include +#include +#include #include namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp index 58cf9ab09e9a7..47eb67b1914ce 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp @@ -16,6 +16,10 @@ #include +#include +#include +#include +#include #include namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp index 0d1f245123806..27ca4715fd0f1 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp @@ -17,6 +17,7 @@ #include #include +#include #include class PcdMapBasedRuleMockNode : public ::testing::Test diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp index 10833b5498b89..6925a424cac6c 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp @@ -26,6 +26,8 @@ #include #include +#include +#include #include class RuleHelperMockNode : public ::testing::Test diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp index 9d537f2048176..e57956b6afae3 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp @@ -22,6 +22,7 @@ #include #include +#include #include class VectorMapBasedRuleMockNode : public ::testing::Test diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml index adf90c534ef8f..c6a47ae5755b3 100644 --- a/localization/autoware_pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_pose_estimator_arbiter - 0.38.0 + 0.40.0 The arbiter of multiple pose estimators Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp index 9108d44e82fb5..c62c533f23093 100644 --- a/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp +++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp @@ -22,6 +22,14 @@ #include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::pose_estimator_arbiter { // Parses ros param to get the estimator set that is running diff --git a/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp index 9767e9ef4fba4..22896d6b8f93b 100644 --- a/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index c6986a26a3d20..45473a9444270 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index 99e2c55c312f2..eeeb46a8db3e5 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_pose_initializer - 0.38.0 + 0.40.0 The autoware_pose_initializer package Yamato Ando Takagi, Isamu diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp index c6b57dd83bc97..e3fdeec6934fe 100644 --- a/localization/autoware_pose_initializer/src/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -19,6 +19,7 @@ #include #include +#include namespace autoware::pose_initializer { diff --git a/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp b/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp index 6205eb3b53864..99a07a56c22f7 100644 --- a/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp +++ b/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(CopyVectorToArray, CopyAllElements) { const std::vector vector{0, 1, 2, 3, 4}; diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index f81c3c36e8b90..b95dcaf6f01c8 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_pose_instability_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml index d3d7cc81166b6..91a565446f9e9 100644 --- a/localization/autoware_pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -2,7 +2,7 @@ autoware_pose_instability_detector - 0.38.0 + 0.40.0 The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp index 36aa4f6d7d73e..d191ec2a3bb22 100644 --- a/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp +++ b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp @@ -22,8 +22,10 @@ #include #include +#include #include #include +#include namespace autoware::pose_instability_detector { diff --git a/localization/autoware_pose_instability_detector/test/test.cpp b/localization/autoware_pose_instability_detector/test/test.cpp index bd663a2406903..14ca03e4c6f40 100644 --- a/localization/autoware_pose_instability_detector/test/test.cpp +++ b/localization/autoware_pose_instability_detector/test/test.cpp @@ -21,6 +21,7 @@ #include #include +#include #include #include #include diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index 94aa8719318f5..f91a3b8de7f05 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_stop_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index 499cb49af41a5..1ed5e2c2082be 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -2,7 +2,7 @@ autoware_stop_filter - 0.38.0 + 0.40.0 The stop filter package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index 1f6228b9b5f62..89b22e6ae4f26 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_twist2accel ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index ac40f9b43bc90..75cea94546516 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -2,7 +2,7 @@ autoware_twist2accel - 0.38.0 + 0.40.0 The acceleration estimation package Yamato Ando Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index 936f230220d86..6812e5ca633ca 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package yabloc_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 7bcf4084073c4..5a8f19ff16bd7 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -1,7 +1,7 @@ yabloc_common - 0.38.0 + 0.40.0 YabLoc common library Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp b/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp index 222389c32ef31..118bc3cb634c3 100644 --- a/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp +++ b/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp @@ -14,6 +14,8 @@ #include "yabloc_common/camera_info_subscriber.hpp" +#include + namespace yabloc::common { CameraInfoSubscriber::CameraInfoSubscriber(rclcpp::Node * node) diff --git a/localization/yabloc/yabloc_common/src/cv_decompress.cpp b/localization/yabloc/yabloc_common/src/cv_decompress.cpp index 5808d5efc61af..0f4bf2b7bc498 100644 --- a/localization/yabloc/yabloc_common/src/cv_decompress.cpp +++ b/localization/yabloc/yabloc_common/src/cv_decompress.cpp @@ -17,6 +17,8 @@ #include #include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp index d96285c0d5c00..83edeb4bd9b96 100644 --- a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp +++ b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp @@ -28,7 +28,12 @@ #include #include +#include #include +#include +#include +#include +#include namespace yabloc::ground_server { diff --git a/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp b/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp index 11279f6268092..5a8dadec898d6 100644 --- a/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp +++ b/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp @@ -16,6 +16,8 @@ #include +#include + namespace yabloc::ground_server { // cppcheck-suppress unusedFunction diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp index 6c3d43f33440f..cbb6f48450b91 100644 --- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp +++ b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp @@ -22,6 +22,10 @@ #include +#include +#include +#include + namespace yabloc::ll2_decomposer { Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to_image", options) diff --git a/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp b/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp index 3aeaefad12629..afe9d9d70349b 100644 --- a/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp +++ b/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp @@ -14,6 +14,9 @@ #include "yabloc_common/static_tf_subscriber.hpp" +#include +#include + namespace yabloc::common { StaticTfSubscriber::StaticTfSubscriber(rclcpp::Clock::SharedPtr clock) diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index b3b0eab9847b4..bf4c1279fffdc 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package yabloc_image_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml index 4dc13b1f923e2..c3202e8bfaebf 100644 --- a/localization/yabloc/yabloc_image_processing/package.xml +++ b/localization/yabloc/yabloc_image_processing/package.xml @@ -2,7 +2,7 @@ yabloc_image_processing - 0.38.0 + 0.40.0 YabLoc image processing package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp b/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp index 9539e44f61276..cedfb570fe74c 100644 --- a/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp @@ -21,6 +21,11 @@ #include #include +#include +#include +#include +#include + namespace yabloc::graph_segment { GraphSegment::GraphSegment(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp b/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp index c7bf41bff459b..5483f4a1e6ae8 100644 --- a/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp +++ b/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp @@ -19,6 +19,9 @@ #include #include +#include +#include +#include namespace yabloc::graph_segment { diff --git a/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp b/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp index d31b19406e320..948f5764e2fe3 100644 --- a/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp @@ -26,6 +26,9 @@ #include +#include +#include + namespace yabloc::lanelet2_overlay { Lanelet2Overlay::Lanelet2Overlay(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp b/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp index c5cec31e24844..8b4dd71561276 100644 --- a/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp @@ -21,6 +21,8 @@ #include +#include + namespace yabloc::line_segment_detector { LineSegmentDetector::LineSegmentDetector(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp b/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp index b844fb69285b5..ab2c241001df7 100644 --- a/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp @@ -21,6 +21,11 @@ #include +#include +#include +#include +#include + namespace yabloc::segment_filter { SegmentFilter::SegmentFilter(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp index 4c33377c8ed0f..98484d5875e14 100644 --- a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp +++ b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp @@ -24,6 +24,8 @@ #include #include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index 322ed6fa7ce20..c7cb3c7dc307d 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package yabloc_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index 9fd3e2af75625..1a0dbb6c7fdfa 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -2,7 +2,7 @@ yabloc_monitor - 0.38.0 + 0.40.0 YabLoc monitor package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index 967571100c5f4..935aecb810449 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package yabloc_particle_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp index d6cc4553e29bc..b130ef2db1425 100644 --- a/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp +++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp @@ -29,6 +29,7 @@ #include #include +#include #include #include #include diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index cbf19be65148f..074ff19334852 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -2,7 +2,7 @@ yabloc_particle_filter - 0.38.0 + 0.40.0 YabLoc particle filter package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp index d6a38e7b97b96..4e8decf1308bf 100644 --- a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp @@ -25,7 +25,10 @@ #include +#include #include +#include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp index 105f72920a6de..20c825848b728 100644 --- a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp @@ -20,6 +20,8 @@ #include #include +#include + namespace yabloc::modularized_particle_filter { cv::Point2f cv2pt(const Eigen::Vector3f & v) diff --git a/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp b/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp index 1a0ef05508c76..0219165734967 100644 --- a/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp @@ -27,6 +27,7 @@ #include #include #include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp index 48f2041595a77..fa08deb0da9de 100644 --- a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp @@ -20,6 +20,8 @@ #include #include +#include + namespace yabloc::modularized_particle_filter { class ParticleVisualize : public rclcpp::Node diff --git a/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp index 17b22757b4bc5..e9b85f380cf8c 100644 --- a/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp @@ -16,6 +16,8 @@ #include +#include + namespace yabloc::modularized_particle_filter { ParticleVisualizer::ParticleVisualizer(rclcpp::Node & node) diff --git a/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp b/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp index 1c8e2f5976a1d..3c776743824ca 100644 --- a/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp @@ -14,6 +14,10 @@ #include "yabloc_particle_filter/correction/abstract_corrector.hpp" +#include +#include +#include + namespace yabloc::modularized_particle_filter { AbstractCorrector::AbstractCorrector( diff --git a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp index c6359a8c8f5fc..4006e8f6fd2c2 100644 --- a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp @@ -14,6 +14,9 @@ #include "yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp" +#include +#include + namespace yabloc { cv::Mat direct_cost_map(const cv::Mat & cost_map, const cv::Mat & intensity) diff --git a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp index 4f03e3d26ecb6..7450635b70303 100644 --- a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp @@ -22,6 +22,8 @@ #include +#include + namespace yabloc { float Area::unit_length = -1; diff --git a/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp index 701a2b8763fa3..e92de610e4dec 100644 --- a/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp @@ -26,7 +26,9 @@ #include +#include #include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp index c8c3971ba85b2..f70b4721798be 100644 --- a/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp @@ -21,6 +21,7 @@ #include #include #include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index fac49c978ca92..0b78a98bf07fd 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package yabloc_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(yabloc_pose_initializer): include opencv as system (`#9375 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index 4e650340a309f..4fd346f6327ad 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -1,7 +1,7 @@ yabloc_pose_initializer - 0.38.0 + 0.40.0 The pose initializer Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp index 23f711d1ba17b..0d446e976c089 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp @@ -20,6 +20,10 @@ #include #include +#include +#include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp index d6949c43dbfc5..ca4ca60179bd0 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp @@ -23,6 +23,9 @@ #include #include +#include +#include + namespace yabloc { namespace bg = boost::geometry; diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp index 0d4dd8bb373e5..9b479c18db07e 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp @@ -16,6 +16,9 @@ #include +#include +#include + namespace yabloc::initializer { diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp index 449812eff6e09..59226dc0e9171 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace yabloc::initializer { ProjectorModule::ProjectorModule(rclcpp::Node * node) diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp index 917015269d3e2..472d45749d611 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include struct SemanticSegmentation::Impl diff --git a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst new file mode 100644 index 0000000000000..3d95ca5f804b2 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst @@ -0,0 +1,465 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_lanelet2_map_visualizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome + +* Merge branch 'main' into release-0.40.0 +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* chore(package.xml): bump version to 0.39.0 (`#9435 `_) + * chore: update CODEOWNERS (`#9203 `_) + Co-authored-by: github-actions + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- + * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber + * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived + * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests + * feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch + * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- + * fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- + * test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- + * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) + * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) + * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) + * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii + * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) + * refactor(map_based_prediction): move member functions to utils (`#9225 `_) + * test(crosswalk): add unit test (`#9228 `_) + * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings + * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) + * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) + * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml + * feat(autoware_test_utils): add general topic dumper (`#9207 `_) + * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ + * fix(autoware_rtc_interface): fix dependency (`#9237 `_) + * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- + * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) + * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) + * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) + * chore(autoware_geography_utils): update maintainers (`#9246 `_) + * update maintainers + * add author + --------- + * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- + * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) + * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- + * fix: missing dependency in common components (`#9072 `_) + * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- + * feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray + * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- + * feat(detection_area)!: add retruction feature (`#9255 `_) + * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) + * fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- + * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) + * fix(bpp): prevent accessing nullopt (`#9269 `_) + * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. + * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) + * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) + * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) + * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) + * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- + * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes + * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- + * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori + * ci(.github): update image tags (`#9286 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- + * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- + * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error + * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings + * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) + * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) + * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- + * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) + * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi + * fix(control): missing dependency in control components (`#9073 `_) + * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- + * fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- + * feat(goal_planner): safety check with only parking path (`#9293 `_) + * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) + * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons + * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) + * feat(autoware_trajectory): change default value of min_points (`#9315 `_) + * chore(codecov): update maintained packages (`#9316 `_) + * doc: fix links to design documents (`#9301 `_) + * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) + * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * add changelog + * update changelog + * fix version + * 0.39.0 + * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- + * update version + --------- + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: github-actions + Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: Mamoru Sobue + Co-authored-by: SakodaShintaro + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> + Co-authored-by: Ryuta Kambe + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> + Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> + Co-authored-by: danielsanchezaran + Co-authored-by: Yamato Ando + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> + Co-authored-by: ぐるぐる + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + Co-authored-by: iwatake + Co-authored-by: Kosuke Takeuchi + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + Co-authored-by: Kyoichi Sugahara + Co-authored-by: Giovanni Muhammad Raditya + Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> + Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> + Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com> + Co-authored-by: Masaki Baba +* Contributors: Yutaka Kondo + +0.38.0 (2024-11-11) +------------------- diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml index 0244a5f010aa4..eef83f90ec142 100644 --- a/map/autoware_lanelet2_map_visualizer/package.xml +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -2,7 +2,7 @@ autoware_lanelet2_map_visualizer - 0.1.0 + 0.40.0 The autoware_lanelet2_map_visualizer package Yamato Ando Ryu Yamamoto @@ -24,7 +24,6 @@ autoware_map_msgs rclcpp rclcpp_components - tier4_map_msgs visualization_msgs ament_lint_auto diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index 5521960cabbdf..d600473d9756f 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_map_height_fitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml index bfb9855320d4b..98a48704c0c4b 100644 --- a/map/autoware_map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -2,7 +2,7 @@ autoware_map_height_fitter - 0.38.0 + 0.40.0 The autoware_map_height_fitter package Takagi, Isamu Yamato Ando diff --git a/map/autoware_map_height_fitter/src/map_height_fitter.cpp b/map/autoware_map_height_fitter/src/map_height_fitter.cpp index 732f13e375f05..e86674c86f10d 100644 --- a/map/autoware_map_height_fitter/src/map_height_fitter.cpp +++ b/map/autoware_map_height_fitter/src/map_height_fitter.cpp @@ -29,7 +29,9 @@ #include #include +#include #include +#include namespace autoware::map_height_fitter { diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst index d7acfba736fd1..a9e1080f1d6ec 100644 --- a/map/autoware_map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -1,6 +1,59 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package map_loader -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_map_loader +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* fix: fix package names in changelog files (`#9500 `_) +* update version +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/map/autoware_map_loader/README.md b/map/autoware_map_loader/README.md index 046c9062081ca..ec06ee4d824c7 100644 --- a/map/autoware_map_loader/README.md +++ b/map/autoware_map_loader/README.md @@ -132,7 +132,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_map_msgs/LaneletMapBin message. The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`. -Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_map_msgs/msg/MapProjectorInfo.msg) for supported projector types. +Please see [autoware_map_msgs/msg/MapProjectorInfo.msg](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/msg/MapProjectorInfo.msg) for supported projector types. ### How to run @@ -140,7 +140,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### Subscribed Topics -- ~input/map_projector_info (tier4_map_msgs/MapProjectorInfo) : Projection type for Autoware +- ~input/map_projector_info (autoware_map_msgs/MapProjectorInfo) : Projection type for Autoware ### Published Topics diff --git a/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp index 54d8244ff76e0..0922b1cb2bdd6 100644 --- a/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp +++ b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include @@ -40,7 +40,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node static lanelet::LaneletMapPtr load_map( const std::string & lanelet2_filename, - const tier4_map_msgs::msg::MapProjectorInfo & projector_info); + const autoware_map_msgs::msg::MapProjectorInfo & projector_info); static autoware_map_msgs::msg::LaneletMapBin create_map_bin_msg( const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now); diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml index 15fc9fd13df64..4d4eabc6e3f25 100644 --- a/map/autoware_map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_loader - 0.38.0 + 0.40.0 The autoware_map_loader package Yamato Ando Ryu Yamamoto @@ -30,7 +30,6 @@ pcl_conversions rclcpp rclcpp_components - tier4_map_msgs visualization_msgs yaml-cpp diff --git a/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index ee1cc4a58a1be..47439508f46ae 100644 --- a/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -49,13 +49,14 @@ #include #include +#include #include #include namespace autoware::map_loader { using autoware_map_msgs::msg::LaneletMapBin; -using tier4_map_msgs::msg::MapProjectorInfo; +using autoware_map_msgs::msg::MapProjectorInfo; Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_loader", options) @@ -136,10 +137,10 @@ void Lanelet2MapLoaderNode::on_map_projector_info( lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( const std::string & lanelet2_filename, - const tier4_map_msgs::msg::MapProjectorInfo & projector_info) + const autoware_map_msgs::msg::MapProjectorInfo & projector_info) { lanelet::ErrorMessages errors{}; - if (projector_info.projector_type != tier4_map_msgs::msg::MapProjectorInfo::LOCAL) { + if (projector_info.projector_type != autoware_map_msgs::msg::MapProjectorInfo::LOCAL) { std::unique_ptr projector = autoware::geography_utils::get_lanelet2_projector(projector_info); lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, *projector, &errors); diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index 160c6f876138d..30a0dd06364d3 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -14,7 +14,10 @@ #include "differential_map_loader_module.hpp" +#include +#include #include +#include namespace autoware::map_loader { diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp index afa3da7b82b2d..1c96f82b22853 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp @@ -14,6 +14,8 @@ #include "partial_map_loader_module.hpp" +#include +#include #include namespace autoware::map_loader diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp index 2500d96650ae3..a22654faa712a 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp @@ -20,7 +20,9 @@ #include #include +#include #include +#include #include #include diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp index 082d1f545dc14..18b8ace1fec68 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp @@ -14,6 +14,8 @@ #include "selected_map_loader_module.hpp" +#include +#include #include namespace autoware::map_loader diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp index 172d462947548..cf52986cf58d8 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include diff --git a/map/autoware_map_loader/test/test_differential_map_loader_module.cpp b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp index cd9b670b32fd3..56be0556bdf04 100644 --- a/map/autoware_map_loader/test/test_differential_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp @@ -21,7 +21,9 @@ #include #include +#include #include +#include using autoware::map_loader::DifferentialMapLoaderModule; using autoware_map_msgs::srv::GetDifferentialPointCloudMap; diff --git a/map/autoware_map_loader/test/test_load_pcd_metadata.cpp b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp index dc23c3a9fb2d6..eb246c22afbc3 100644 --- a/map/autoware_map_loader/test/test_load_pcd_metadata.cpp +++ b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include using ::testing::ContainerEq; diff --git a/map/autoware_map_loader/test/test_partial_map_loader_module.cpp b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp index fd25b600c81af..85a1f82fb6b2f 100644 --- a/map/autoware_map_loader/test/test_partial_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp @@ -20,7 +20,9 @@ #include +#include #include +#include using autoware::map_loader::PartialMapLoaderModule; using autoware_map_msgs::srv::GetPartialPointCloudMap; diff --git a/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp index d61839d5abfc8..3359847a1751c 100644 --- a/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include class TestPointcloudMapLoaderModule : public ::testing::Test { diff --git a/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp index e8ccfbd5fb9f4..00600d51288f6 100644 --- a/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp +++ b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp @@ -17,6 +17,11 @@ #include #include +#include +#include +#include +#include + using autoware::map_loader::PCDFileMetadata; using autoware::map_loader::replace_with_absolute_path; using ::testing::ContainerEq; diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index 40041fa24cda2..eef30e5c5f159 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -2,6 +2,69 @@ Changelog for package autoware_map_projection_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md index 2568bb2c17df7..ad35a666eb0b8 100644 --- a/map/autoware_map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -29,7 +29,7 @@ There are three types of transformations from latitude and longitude to XYZ coor ```yaml # map_projector_info.yaml -projector_type: local +projector_type: Local ``` #### Limitation @@ -86,7 +86,7 @@ map_origin: ## Published Topics -- `~/map_projector_info` (tier4_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information +- `~/map_projector_info` (autoware_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information ## Parameters diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp index 2f1db14529ad0..da0ebb83748ab 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp @@ -20,13 +20,13 @@ #include #include -#include "tier4_map_msgs/msg/map_projector_info.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename); +autoware_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename); } // namespace autoware::map_projection_loader #endif // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index 6ef9213cf33f8..1ca876dc035b2 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -24,8 +24,8 @@ namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename); -tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( +autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename); +autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info( const std::string & yaml_filename, const std::string & lanelet2_map_filename); class MapProjectionLoader : public rclcpp::Node diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index 55785a81ea1a2..ad31dfdcc094d 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_projection_loader - 0.38.0 + 0.40.0 autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto @@ -19,9 +19,9 @@ autoware_component_interface_specs autoware_component_interface_utils autoware_lanelet2_extension + autoware_map_msgs rclcpp rclcpp_components - tier4_map_msgs yaml-cpp ament_cmake_gmock diff --git a/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp index ce4cda5c2c677..750a73c8a8ec6 100644 --- a/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp @@ -14,7 +14,7 @@ #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" -#include "tier4_map_msgs/msg/map_projector_info.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include #include @@ -25,7 +25,7 @@ namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename) +autoware_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename) { lanelet::ErrorMessages errors{}; lanelet::projection::MGRSProjector projector{}; @@ -46,18 +46,18 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str } } - tier4_map_msgs::msg::MapProjectorInfo msg; + autoware_map_msgs::msg::MapProjectorInfo msg; if (is_local) { - msg.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL; + msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL; } else { - msg.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; msg.mgrs_grid = projector.getProjectedMGRSGrid(); } // We assume that the vertical datum of the map is WGS84 when using lanelet2 map. // However, do note that this is not always true, and may cause problems in the future. // Thus, please consider using the map_projector_info.yaml instead of this deprecated function. - msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + msg.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; return msg; } } // namespace autoware::map_projection_loader diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp index 588ede616a814..981380d1d493b 100644 --- a/map/autoware_map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -16,48 +16,59 @@ #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" -#include +#include #include #include #include +#include +#include namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename) +autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename) { YAML::Node data = YAML::LoadFile(filename); - tier4_map_msgs::msg::MapProjectorInfo msg; + autoware_map_msgs::msg::MapProjectorInfo msg; msg.projector_type = data["projector_type"].as(); - if (msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::MGRS) { + if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::MGRS) { msg.vertical_datum = data["vertical_datum"].as(); msg.mgrs_grid = data["mgrs_grid"].as(); } else if ( - msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM || - msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) { + msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM || + msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) { msg.vertical_datum = data["vertical_datum"].as(); msg.map_origin.latitude = data["map_origin"]["latitude"].as(); msg.map_origin.longitude = data["map_origin"]["longitude"].as(); msg.map_origin.altitude = data["map_origin"]["altitude"].as(); - } else if (msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL) { + } else if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL) { ; // do nothing + } else if (msg.projector_type == "local") { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("MapProjectionLoader"), + "Load " << filename << "\n" + << "DEPRECATED WARNING: projector type \"local\" is deprecated." + "Please use \"Local\" instead. For more info, visit " + "https://github.com/autowarefoundation/autoware.universe/blob/main/map/" + "map_projection_loader README.md"); + msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL; } else { throw std::runtime_error( "Invalid map projector type. Currently supported types: MGRS, LocalCartesianUTM, " - "TransverseMercator, and local"); + "TransverseMercator, and Local"); } return msg; } -tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( +autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info( const std::string & yaml_filename, const std::string & lanelet2_map_filename) { - tier4_map_msgs::msg::MapProjectorInfo msg; + autoware_map_msgs::msg::MapProjectorInfo msg; if (std::filesystem::exists(yaml_filename)) { std::cout << "Load " << yaml_filename << std::endl; @@ -87,7 +98,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options) const std::string lanelet2_map_filename = this->declare_parameter("lanelet2_map_path"); - const tier4_map_msgs::msg::MapProjectorInfo msg = + const autoware_map_msgs::msg::MapProjectorInfo msg = load_map_projector_info(yaml_filename, lanelet2_map_filename); // Publish the message diff --git a/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml index 2e5d27c3e8143..b1f30b12d8bde 100644 --- a/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml +++ b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml @@ -1 +1 @@ -projector_type: local +projector_type: Local diff --git a/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp index 26658e88682a2..bf2207a777642 100644 --- a/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include void save_dummy_mgrs_lanelet2_map(const std::string & mgrs_coord, const std::string & output_path) { @@ -111,7 +113,7 @@ TEST(TestLoadFromLanelet2Map, LoadLocalGrid) autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result - EXPECT_EQ(projector_info.projector_type, "local"); + EXPECT_EQ(projector_info.projector_type, "Local"); } TEST(TestLoadFromLanelet2Map, LoadNoLocalGrid) diff --git a/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index 495f0092bb01f..30cede4b1ec25 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py index 8517f09e2006b..9c364f094ee24 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index ad19e61f9f111..6586a9aee98d3 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index ed2eb45535089..3035ce75e692d 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index d8c2ebdd75145..963e450bd4856 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_map_tf_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml index 3c6de9333de79..0e81321daea2e 100644 --- a/map/autoware_map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -2,7 +2,7 @@ autoware_map_tf_generator - 0.38.0 + 0.40.0 map_tf_generator package as a ROS 2 node Yamato Ando Kento Yabuuchi diff --git a/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp b/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp index e6edbe99dd210..f1e6b75d2d309 100644 --- a/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp +++ b/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp @@ -27,6 +27,7 @@ #include #include #include +#include namespace autoware::map_tf_generator { diff --git a/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp b/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp index e4c397bd04cf1..e31416fb1a2d3 100644 --- a/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp +++ b/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp @@ -24,6 +24,7 @@ #include #include +#include namespace autoware::map_tf_generator { diff --git a/map/autoware_map_tf_generator/test/test_uniform_random.cpp b/map/autoware_map_tf_generator/test/test_uniform_random.cpp index 481f5c6d86859..29557d9327e5a 100644 --- a/map/autoware_map_tf_generator/test/test_uniform_random.cpp +++ b/map/autoware_map_tf_generator/test/test_uniform_random.cpp @@ -16,6 +16,8 @@ #include +#include + using testing::AllOf; using testing::Each; using testing::Ge; diff --git a/mkdocs.yaml b/mkdocs.yaml index 2ca8b3c86ad43..38786709319be 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + site_name: Autoware Universe Documentation site_url: https://autowarefoundation.github.io/autoware.universe repo_url: https://github.com/autowarefoundation/autoware.universe diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index 2c30ebf81ee43..2db62f9a4e374 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_bytetrack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(bytetrack): remove unreachable code block from lapjv.h (`#9563 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_bytetrack): update visualizer param path and not to set default value (`#9490 `_) + fix: update visualizer param path and not to set default value +* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9513 `_) + fix: clang-diagnostic-implicit-const-int-float-conversion +* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9468 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_bytetrack/launch/bytetrack.launch.xml b/perception/autoware_bytetrack/launch/bytetrack.launch.xml index ace84d4799a8a..c009ed93754fa 100644 --- a/perception/autoware_bytetrack/launch/bytetrack.launch.xml +++ b/perception/autoware_bytetrack/launch/bytetrack.launch.xml @@ -5,7 +5,7 @@ - + diff --git a/perception/autoware_bytetrack/lib/include/byte_tracker.h b/perception/autoware_bytetrack/lib/include/byte_tracker.h index 60328c5acfd62..736ed6d311043 100644 --- a/perception/autoware_bytetrack/lib/include/byte_tracker.h +++ b/perception/autoware_bytetrack/lib/include/byte_tracker.h @@ -40,6 +40,7 @@ #include "strack.h" +#include #include struct ByteTrackObject @@ -83,8 +84,8 @@ class ByteTracker double lapjv( const std::vector> & cost, std::vector & rowsol, - std::vector & colsol, bool extend_cost = false, float cost_limit = LONG_MAX, - bool return_cost = true); + std::vector & colsol, bool extend_cost = false, + float cost_limit = std::numeric_limits::max(), bool return_cost = true); private: float track_thresh; diff --git a/perception/autoware_bytetrack/lib/include/lapjv.h b/perception/autoware_bytetrack/lib/include/lapjv.h index d197b747e6f7d..c42fcbac8eb60 100644 --- a/perception/autoware_bytetrack/lib/include/lapjv.h +++ b/perception/autoware_bytetrack/lib/include/lapjv.h @@ -64,40 +64,10 @@ b = _temp_index; \ } -#if 0 -#include -#define ASSERT(cond) assert(cond) -#define PRINTF(fmt, ...) printf(fmt, ##__VA_ARGS__) -#define PRINT_COST_ARRAY(a, n) \ - while (1) { \ - printf(#a " = ["); \ - if ((n) > 0) { \ - printf("%f", (a)[0]); \ - for (uint_t j = 1; j < n; j++) { \ - printf(", %f", (a)[j]); \ - } \ - } \ - printf("]\n"); \ - break; \ - } -#define PRINT_INDEX_ARRAY(a, n) \ - while (1) { \ - printf(#a " = ["); \ - if ((n) > 0) { \ - printf("%d", (a)[0]); \ - for (uint_t j = 1; j < n; j++) { \ - printf(", %d", (a)[j]); \ - } \ - } \ - printf("]\n"); \ - break; \ - } -#else #define ASSERT(cond) #define PRINTF(fmt, ...) #define PRINT_COST_ARRAY(a, n) #define PRINT_INDEX_ARRAY(a, n) -#endif typedef signed int int_t; typedef unsigned int uint_t; diff --git a/perception/autoware_bytetrack/lib/src/byte_tracker.cpp b/perception/autoware_bytetrack/lib/src/byte_tracker.cpp index a3477e78ad6dd..1d1288cbb2a48 100644 --- a/perception/autoware_bytetrack/lib/src/byte_tracker.cpp +++ b/perception/autoware_bytetrack/lib/src/byte_tracker.cpp @@ -1,248 +1,250 @@ -/* - * MIT License - * - * Copyright (c) 2021 Yifu Zhang - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "byte_tracker.h" - -#include -#include - -ByteTracker::ByteTracker( - int track_buffer, float track_thresh, float high_thresh, float match_thresh) -: track_thresh(track_thresh), high_thresh(high_thresh), match_thresh(match_thresh) - -{ - frame_id = 0; - max_time_lost = track_buffer; - std::cout << "Init ByteTrack!" << std::endl; -} - -ByteTracker::~ByteTracker() -{ -} - -std::vector ByteTracker::update(const std::vector & objects) -{ - ////////////////// Step 1: Get detections ////////////////// - this->frame_id++; - std::vector activated_stracks; - std::vector refind_stracks; - std::vector removed_stracks; - std::vector lost_stracks; - std::vector detections; - std::vector detections_low; - - std::vector detections_cp; - std::vector tracked_stracks_swap; - std::vector resa, resb; - std::vector output_stracks; - - std::vector unconfirmed; - std::vector tracked_stracks; - std::vector strack_pool; - std::vector r_tracked_stracks; - - if (objects.size() > 0) { - for (size_t i = 0; i < objects.size(); i++) { - std::vector tlbr_; - tlbr_.resize(4); - tlbr_[0] = objects[i].rect.x; - tlbr_[1] = objects[i].rect.y; - tlbr_[2] = objects[i].rect.x + objects[i].rect.width; - tlbr_[3] = objects[i].rect.y + objects[i].rect.height; - - float score = objects[i].prob; - - STrack strack(STrack::tlbr_to_tlwh(tlbr_), score, objects[i].label); - if (score >= track_thresh) { - detections.push_back(strack); - } else { - detections_low.push_back(strack); - } - } - } - - // Add newly detected tracklets to tracked_stracks - for (size_t i = 0; i < this->tracked_stracks.size(); i++) { - if (!this->tracked_stracks[i].is_activated) - unconfirmed.push_back(&this->tracked_stracks[i]); - else - tracked_stracks.push_back(&this->tracked_stracks[i]); - } - - ////////////////// Step 2: First association, with IoU ////////////////// - strack_pool = joint_stracks(tracked_stracks, this->lost_stracks); - // do prediction for each stracks - for (size_t i = 0; i < strack_pool.size(); i++) { - strack_pool[i]->predict(this->frame_id); - } - - std::vector > dists; - int dist_size = 0, dist_size_size = 0; - dists = iou_distance(strack_pool, detections, dist_size, dist_size_size); - - std::vector > matches; - std::vector u_track, u_detection; - linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection); - - for (size_t i = 0; i < matches.size(); i++) { - STrack * track = strack_pool[matches[i][0]]; - STrack * det = &detections[matches[i][1]]; - if (track->state == TrackState::Tracked) { - track->update(*det, this->frame_id); - activated_stracks.push_back(*track); - } else { - track->re_activate(*det, this->frame_id, false); - refind_stracks.push_back(*track); - } - } - - ////////////////// Step 3: Second association, using low score dets ////////////////// - for (size_t i = 0; i < u_detection.size(); i++) { - detections_cp.push_back(detections[u_detection[i]]); - } - detections.clear(); - detections.assign(detections_low.begin(), detections_low.end()); - - for (size_t i = 0; i < u_track.size(); i++) { - if (strack_pool[u_track[i]]->state == TrackState::Tracked) { - r_tracked_stracks.push_back(strack_pool[u_track[i]]); - } - } - - dists.clear(); - dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size); - - matches.clear(); - u_track.clear(); - u_detection.clear(); - linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection); - - for (size_t i = 0; i < matches.size(); i++) { - STrack * track = r_tracked_stracks[matches[i][0]]; - STrack * det = &detections[matches[i][1]]; - if (track->state == TrackState::Tracked) { - track->update(*det, this->frame_id); - activated_stracks.push_back(*track); - } else { - track->re_activate(*det, this->frame_id, false); - refind_stracks.push_back(*track); - } - } - - for (size_t i = 0; i < u_track.size(); i++) { - STrack * track = r_tracked_stracks[u_track[i]]; - if (track->state != TrackState::Lost) { - track->mark_lost(); - lost_stracks.push_back(*track); - } - } - - // Deal with unconfirmed tracks, usually tracks with only one beginning frame - detections.clear(); - detections.assign(detections_cp.begin(), detections_cp.end()); - - dists.clear(); - dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size); - - matches.clear(); - std::vector u_unconfirmed; - u_detection.clear(); - linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection); - - for (size_t i = 0; i < matches.size(); i++) { - unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id); - activated_stracks.push_back(*unconfirmed[matches[i][0]]); - } - - for (size_t i = 0; i < u_unconfirmed.size(); i++) { - STrack * track = unconfirmed[u_unconfirmed[i]]; - track->mark_removed(); - removed_stracks.push_back(*track); - } - - ////////////////// Step 4: Init new stracks ////////////////// - for (size_t i = 0; i < u_detection.size(); i++) { - STrack * track = &detections[u_detection[i]]; - if (track->score < this->high_thresh) continue; - track->activate(this->frame_id); - activated_stracks.push_back(*track); - } - - ////////////////// Step 5: Update state ////////////////// - for (size_t i = 0; i < this->lost_stracks.size(); i++) { - if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost) { - this->lost_stracks[i].mark_removed(); - removed_stracks.push_back(this->lost_stracks[i]); - } - } - - for (size_t i = 0; i < this->tracked_stracks.size(); i++) { - if (this->tracked_stracks[i].state == TrackState::Tracked) { - tracked_stracks_swap.push_back(this->tracked_stracks[i]); - } - } - this->tracked_stracks.clear(); - this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end()); - - this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks); - this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks); - - this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks); - for (size_t i = 0; i < lost_stracks.size(); i++) { - this->lost_stracks.push_back(lost_stracks[i]); - } - - this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks); - for (size_t i = 0; i < removed_stracks.size(); i++) { - this->removed_stracks.push_back(removed_stracks[i]); - } - - remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks); - - this->tracked_stracks.clear(); - this->tracked_stracks.assign(resa.begin(), resa.end()); - this->lost_stracks.clear(); - this->lost_stracks.assign(resb.begin(), resb.end()); - - for (size_t i = 0; i < this->tracked_stracks.size(); i++) { - if (this->tracked_stracks[i].is_activated) { - output_stracks.push_back(this->tracked_stracks[i]); - } - } - return output_stracks; -} +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "byte_tracker.h" + +#include +#include +#include +#include + +ByteTracker::ByteTracker( + int track_buffer, float track_thresh, float high_thresh, float match_thresh) +: track_thresh(track_thresh), high_thresh(high_thresh), match_thresh(match_thresh) + +{ + frame_id = 0; + max_time_lost = track_buffer; + std::cout << "Init ByteTrack!" << std::endl; +} + +ByteTracker::~ByteTracker() +{ +} + +std::vector ByteTracker::update(const std::vector & objects) +{ + ////////////////// Step 1: Get detections ////////////////// + this->frame_id++; + std::vector activated_stracks; + std::vector refind_stracks; + std::vector removed_stracks; + std::vector lost_stracks; + std::vector detections; + std::vector detections_low; + + std::vector detections_cp; + std::vector tracked_stracks_swap; + std::vector resa, resb; + std::vector output_stracks; + + std::vector unconfirmed; + std::vector tracked_stracks; + std::vector strack_pool; + std::vector r_tracked_stracks; + + if (objects.size() > 0) { + for (size_t i = 0; i < objects.size(); i++) { + std::vector tlbr_; + tlbr_.resize(4); + tlbr_[0] = objects[i].rect.x; + tlbr_[1] = objects[i].rect.y; + tlbr_[2] = objects[i].rect.x + objects[i].rect.width; + tlbr_[3] = objects[i].rect.y + objects[i].rect.height; + + float score = objects[i].prob; + + STrack strack(STrack::tlbr_to_tlwh(tlbr_), score, objects[i].label); + if (score >= track_thresh) { + detections.push_back(strack); + } else { + detections_low.push_back(strack); + } + } + } + + // Add newly detected tracklets to tracked_stracks + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (!this->tracked_stracks[i].is_activated) + unconfirmed.push_back(&this->tracked_stracks[i]); + else + tracked_stracks.push_back(&this->tracked_stracks[i]); + } + + ////////////////// Step 2: First association, with IoU ////////////////// + strack_pool = joint_stracks(tracked_stracks, this->lost_stracks); + // do prediction for each stracks + for (size_t i = 0; i < strack_pool.size(); i++) { + strack_pool[i]->predict(this->frame_id); + } + + std::vector > dists; + int dist_size = 0, dist_size_size = 0; + dists = iou_distance(strack_pool, detections, dist_size, dist_size_size); + + std::vector > matches; + std::vector u_track, u_detection; + linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + STrack * track = strack_pool[matches[i][0]]; + STrack * det = &detections[matches[i][1]]; + if (track->state == TrackState::Tracked) { + track->update(*det, this->frame_id); + activated_stracks.push_back(*track); + } else { + track->re_activate(*det, this->frame_id, false); + refind_stracks.push_back(*track); + } + } + + ////////////////// Step 3: Second association, using low score dets ////////////////// + for (size_t i = 0; i < u_detection.size(); i++) { + detections_cp.push_back(detections[u_detection[i]]); + } + detections.clear(); + detections.assign(detections_low.begin(), detections_low.end()); + + for (size_t i = 0; i < u_track.size(); i++) { + if (strack_pool[u_track[i]]->state == TrackState::Tracked) { + r_tracked_stracks.push_back(strack_pool[u_track[i]]); + } + } + + dists.clear(); + dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size); + + matches.clear(); + u_track.clear(); + u_detection.clear(); + linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + STrack * track = r_tracked_stracks[matches[i][0]]; + STrack * det = &detections[matches[i][1]]; + if (track->state == TrackState::Tracked) { + track->update(*det, this->frame_id); + activated_stracks.push_back(*track); + } else { + track->re_activate(*det, this->frame_id, false); + refind_stracks.push_back(*track); + } + } + + for (size_t i = 0; i < u_track.size(); i++) { + STrack * track = r_tracked_stracks[u_track[i]]; + if (track->state != TrackState::Lost) { + track->mark_lost(); + lost_stracks.push_back(*track); + } + } + + // Deal with unconfirmed tracks, usually tracks with only one beginning frame + detections.clear(); + detections.assign(detections_cp.begin(), detections_cp.end()); + + dists.clear(); + dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size); + + matches.clear(); + std::vector u_unconfirmed; + u_detection.clear(); + linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id); + activated_stracks.push_back(*unconfirmed[matches[i][0]]); + } + + for (size_t i = 0; i < u_unconfirmed.size(); i++) { + STrack * track = unconfirmed[u_unconfirmed[i]]; + track->mark_removed(); + removed_stracks.push_back(*track); + } + + ////////////////// Step 4: Init new stracks ////////////////// + for (size_t i = 0; i < u_detection.size(); i++) { + STrack * track = &detections[u_detection[i]]; + if (track->score < this->high_thresh) continue; + track->activate(this->frame_id); + activated_stracks.push_back(*track); + } + + ////////////////// Step 5: Update state ////////////////// + for (size_t i = 0; i < this->lost_stracks.size(); i++) { + if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost) { + this->lost_stracks[i].mark_removed(); + removed_stracks.push_back(this->lost_stracks[i]); + } + } + + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (this->tracked_stracks[i].state == TrackState::Tracked) { + tracked_stracks_swap.push_back(this->tracked_stracks[i]); + } + } + this->tracked_stracks.clear(); + this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end()); + + this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks); + this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks); + + this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks); + for (size_t i = 0; i < lost_stracks.size(); i++) { + this->lost_stracks.push_back(lost_stracks[i]); + } + + this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks); + for (size_t i = 0; i < removed_stracks.size(); i++) { + this->removed_stracks.push_back(removed_stracks[i]); + } + + remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks); + + this->tracked_stracks.clear(); + this->tracked_stracks.assign(resa.begin(), resa.end()); + this->lost_stracks.clear(); + this->lost_stracks.assign(resb.begin(), resb.end()); + + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (this->tracked_stracks[i].is_activated) { + output_stracks.push_back(this->tracked_stracks[i]); + } + } + return output_stracks; +} diff --git a/perception/autoware_bytetrack/lib/src/strack.cpp b/perception/autoware_bytetrack/lib/src/strack.cpp index 4f1e03a4c1d4a..14e2ada387d90 100644 --- a/perception/autoware_bytetrack/lib/src/strack.cpp +++ b/perception/autoware_bytetrack/lib/src/strack.cpp @@ -44,6 +44,10 @@ #include +#include +#include +#include + // init static variable bool STrack::_parameters_loaded = false; STrack::KfParams STrack::_kf_parameters; diff --git a/perception/autoware_bytetrack/lib/src/utils.cpp b/perception/autoware_bytetrack/lib/src/utils.cpp index e987bd36b8064..3290b46842bf5 100644 --- a/perception/autoware_bytetrack/lib/src/utils.cpp +++ b/perception/autoware_bytetrack/lib/src/utils.cpp @@ -1,398 +1,403 @@ -/* - * MIT License - * - * Copyright (c) 2021 Yifu Zhang - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "byte_tracker.h" -#include "lapjv.h" - -#include - -std::vector ByteTracker::joint_stracks( - std::vector & tlista, std::vector & tlistb) -{ - std::map exists; - std::vector res; - for (size_t i = 0; i < tlista.size(); i++) { - exists.insert(std::pair(tlista[i]->track_id, 1)); - res.push_back(tlista[i]); - } - for (size_t i = 0; i < tlistb.size(); i++) { - int tid = tlistb[i].track_id; - if (!exists[tid] || exists.count(tid) == 0) { - exists[tid] = 1; - res.push_back(&tlistb[i]); - } - } - return res; -} - -std::vector ByteTracker::joint_stracks( - std::vector & tlista, std::vector & tlistb) -{ - std::map exists; - std::vector res; - for (size_t i = 0; i < tlista.size(); i++) { - exists.insert(std::pair(tlista[i].track_id, 1)); - res.push_back(tlista[i]); - } - for (size_t i = 0; i < tlistb.size(); i++) { - int tid = tlistb[i].track_id; - if (!exists[tid] || exists.count(tid) == 0) { - exists[tid] = 1; - res.push_back(tlistb[i]); - } - } - return res; -} - -std::vector ByteTracker::sub_stracks( - std::vector & tlista, std::vector & tlistb) -{ - std::map stracks; - for (size_t i = 0; i < tlista.size(); i++) { - stracks.insert(std::pair(tlista[i].track_id, tlista[i])); - } - for (size_t i = 0; i < tlistb.size(); i++) { - int tid = tlistb[i].track_id; - if (stracks.count(tid) != 0) { - stracks.erase(tid); - } - } - - std::vector res; - std::map::iterator it; - for (it = stracks.begin(); it != stracks.end(); ++it) { - res.push_back(it->second); - } - - return res; -} - -void ByteTracker::remove_duplicate_stracks( - std::vector & resa, std::vector & resb, std::vector & stracksa, - std::vector & stracksb) -{ - std::vector> pdist = iou_distance(stracksa, stracksb); - std::vector> pairs; - for (size_t i = 0; i < pdist.size(); i++) { - for (size_t j = 0; j < pdist[i].size(); j++) { - if (pdist[i][j] < 0.15) { - pairs.push_back(std::pair(i, j)); - } - } - } - - std::vector dupa, dupb; - for (size_t i = 0; i < pairs.size(); i++) { - int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame; - int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame; - if (timep > timeq) - dupb.push_back(pairs[i].second); - else - dupa.push_back(pairs[i].first); - } - - for (size_t i = 0; i < stracksa.size(); i++) { - std::vector::iterator iter = find(dupa.begin(), dupa.end(), i); - if (iter == dupa.end()) { - resa.push_back(stracksa[i]); - } - } - - for (size_t i = 0; i < stracksb.size(); i++) { - std::vector::iterator iter = find(dupb.begin(), dupb.end(), i); - if (iter == dupb.end()) { - resb.push_back(stracksb[i]); - } - } -} - -void ByteTracker::linear_assignment( - std::vector> & cost_matrix, int cost_matrix_size, int cost_matrix_size_size, - float thresh, std::vector> & matches, std::vector & unmatched_a, - std::vector & unmatched_b) -{ - if (cost_matrix.size() == 0) { - for (int i = 0; i < cost_matrix_size; i++) { - unmatched_a.push_back(i); - } - for (int i = 0; i < cost_matrix_size_size; i++) { - unmatched_b.push_back(i); - } - return; - } - - std::vector rowsol; - std::vector colsol; - [[maybe_unused]] float c = lapjv(cost_matrix, rowsol, colsol, true, thresh); - for (size_t i = 0; i < rowsol.size(); i++) { - if (rowsol[i] >= 0) { - std::vector match; - match.push_back(i); - match.push_back(rowsol[i]); - matches.push_back(match); - } else { - unmatched_a.push_back(i); - } - } - - for (size_t i = 0; i < colsol.size(); i++) { - if (colsol[i] < 0) { - unmatched_b.push_back(i); - } - } -} - -std::vector> ByteTracker::ious( - std::vector> & atlbrs, std::vector> & btlbrs) -{ - std::vector> ious; - if (atlbrs.size() * btlbrs.size() == 0) return ious; - - ious.resize(atlbrs.size()); - for (size_t i = 0; i < ious.size(); i++) { - ious[i].resize(btlbrs.size()); - } - - // bbox_ious - for (size_t k = 0; k < btlbrs.size(); k++) { - float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1) * (btlbrs[k][3] - btlbrs[k][1] + 1); - for (size_t n = 0; n < atlbrs.size(); n++) { - float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1; - if (iw > 0) { - float ih = std::min(atlbrs[n][3], btlbrs[k][3]) - std::max(atlbrs[n][1], btlbrs[k][1]) + 1; - if (ih > 0) { - float ua = (atlbrs[n][2] - atlbrs[n][0] + 1) * (atlbrs[n][3] - atlbrs[n][1] + 1) + - box_area - iw * ih; - ious[n][k] = iw * ih / ua; - } else { - ious[n][k] = 0.0; - } - } else { - ious[n][k] = 0.0; - } - } - } - - return ious; -} - -std::vector> ByteTracker::iou_distance( - std::vector & atracks, std::vector & btracks, int & dist_size, - int & dist_size_size) -{ - std::vector> cost_matrix; - if (atracks.size() * btracks.size() == 0) { - dist_size = atracks.size(); - dist_size_size = btracks.size(); - return cost_matrix; - } - std::vector> atlbrs, btlbrs; - for (size_t i = 0; i < atracks.size(); i++) { - atlbrs.push_back(atracks[i]->tlbr); - } - for (size_t i = 0; i < btracks.size(); i++) { - btlbrs.push_back(btracks[i].tlbr); - } - - dist_size = atracks.size(); - dist_size_size = btracks.size(); - - std::vector> _ious = ious(atlbrs, btlbrs); - - for (size_t i = 0; i < _ious.size(); i++) { - std::vector _iou; - for (size_t j = 0; j < _ious[i].size(); j++) { - _iou.push_back(1 - _ious[i][j]); - } - cost_matrix.push_back(_iou); - } - - return cost_matrix; -} - -std::vector> ByteTracker::iou_distance( - std::vector & atracks, std::vector & btracks) -{ - std::vector> atlbrs, btlbrs; - for (size_t i = 0; i < atracks.size(); i++) { - atlbrs.push_back(atracks[i].tlbr); - } - for (size_t i = 0; i < btracks.size(); i++) { - btlbrs.push_back(btracks[i].tlbr); - } - - std::vector> _ious = ious(atlbrs, btlbrs); - std::vector> cost_matrix; - for (size_t i = 0; i < _ious.size(); i++) { - std::vector _iou; - for (size_t j = 0; j < _ious[i].size(); j++) { - _iou.push_back(1 - _ious[i][j]); - } - cost_matrix.push_back(_iou); - } - - return cost_matrix; -} - -double ByteTracker::lapjv( - const std::vector> & cost, std::vector & rowsol, - std::vector & colsol, bool extend_cost, float cost_limit, bool return_cost) -{ - std::vector> cost_c; - cost_c.assign(cost.begin(), cost.end()); - - int n_rows = cost.size(); - int n_cols = cost[0].size(); - rowsol.resize(n_rows); - colsol.resize(n_cols); - - int n = 0; - if (n_rows == n_cols) { - n = n_rows; - } else { - if (!extend_cost) { - std::cout << "set extend_cost=True" << std::endl; - // system("pause"); - exit(0); - } - } - - if (extend_cost || cost_limit < LONG_MAX) { - std::vector> cost_c_extended; - - n = n_rows + n_cols; - cost_c_extended.resize(n); - for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n); - - if (cost_limit < LONG_MAX) { - for (size_t i = 0; i < cost_c_extended.size(); i++) { - for (size_t j = 0; j < cost_c_extended[i].size(); j++) { - cost_c_extended[i][j] = cost_limit / 2.0; - } - } - } else { - float cost_max = -1; - for (size_t i = 0; i < cost_c.size(); i++) { - for (size_t j = 0; j < cost_c[i].size(); j++) { - if (cost_c[i][j] > cost_max) cost_max = cost_c[i][j]; - } - } - for (size_t i = 0; i < cost_c_extended.size(); i++) { - for (size_t j = 0; j < cost_c_extended[i].size(); j++) { - cost_c_extended[i][j] = cost_max + 1; - } - } - } - - for (size_t i = n_rows; i < cost_c_extended.size(); i++) { - for (size_t j = n_cols; j < cost_c_extended[i].size(); j++) { - cost_c_extended[i][j] = 0; - } - } - for (int i = 0; i < n_rows; i++) { - for (int j = 0; j < n_cols; j++) { - cost_c_extended[i][j] = cost_c[i][j]; - } - } - - cost_c.clear(); - cost_c.assign(cost_c_extended.begin(), cost_c_extended.end()); - } - - double ** cost_ptr; - cost_ptr = new double *[sizeof(double *) * n]; - for (int i = 0; i < n; i++) cost_ptr[i] = new double[sizeof(double) * n]; - - for (int i = 0; i < n; i++) { - for (int j = 0; j < n; j++) { - cost_ptr[i][j] = cost_c[i][j]; - } - } - - int * x_c = new int[sizeof(int) * n]; - int * y_c = new int[sizeof(int) * n]; - - int ret = lapjv_internal(n, cost_ptr, x_c, y_c); - if (ret != 0) { - std::cout << "Calculate Wrong!" << std::endl; - // system("pause"); - exit(0); - } - - double opt = 0.0; - - if (n != n_rows) { - for (int i = 0; i < n; i++) { - if (x_c[i] >= n_cols) x_c[i] = -1; - if (y_c[i] >= n_rows) y_c[i] = -1; - } - for (int i = 0; i < n_rows; i++) { - rowsol[i] = x_c[i]; - } - for (int i = 0; i < n_cols; i++) { - colsol[i] = y_c[i]; - } - - if (return_cost) { - for (size_t i = 0; i < rowsol.size(); i++) { - if (rowsol[i] != -1) { - opt += cost_ptr[i][rowsol[i]]; - } - } - } - } else if (return_cost) { - for (size_t i = 0; i < rowsol.size(); i++) { - opt += cost_ptr[i][rowsol[i]]; - } - } - - for (int i = 0; i < n; i++) { - delete[] cost_ptr[i]; - } - delete[] cost_ptr; - delete[] x_c; - delete[] y_c; - - return opt; -} - -cv::Scalar ByteTracker::get_color(int idx) -{ - idx += 3; - return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255); -} +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "byte_tracker.h" +#include "lapjv.h" + +#include +#include +#include +#include +#include +#include + +std::vector ByteTracker::joint_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map exists; + std::vector res; + for (size_t i = 0; i < tlista.size(); i++) { + exists.insert(std::pair(tlista[i]->track_id, 1)); + res.push_back(tlista[i]); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (!exists[tid] || exists.count(tid) == 0) { + exists[tid] = 1; + res.push_back(&tlistb[i]); + } + } + return res; +} + +std::vector ByteTracker::joint_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map exists; + std::vector res; + for (size_t i = 0; i < tlista.size(); i++) { + exists.insert(std::pair(tlista[i].track_id, 1)); + res.push_back(tlista[i]); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (!exists[tid] || exists.count(tid) == 0) { + exists[tid] = 1; + res.push_back(tlistb[i]); + } + } + return res; +} + +std::vector ByteTracker::sub_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map stracks; + for (size_t i = 0; i < tlista.size(); i++) { + stracks.insert(std::pair(tlista[i].track_id, tlista[i])); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (stracks.count(tid) != 0) { + stracks.erase(tid); + } + } + + std::vector res; + std::map::iterator it; + for (it = stracks.begin(); it != stracks.end(); ++it) { + res.push_back(it->second); + } + + return res; +} + +void ByteTracker::remove_duplicate_stracks( + std::vector & resa, std::vector & resb, std::vector & stracksa, + std::vector & stracksb) +{ + std::vector> pdist = iou_distance(stracksa, stracksb); + std::vector> pairs; + for (size_t i = 0; i < pdist.size(); i++) { + for (size_t j = 0; j < pdist[i].size(); j++) { + if (pdist[i][j] < 0.15) { + pairs.push_back(std::pair(i, j)); + } + } + } + + std::vector dupa, dupb; + for (size_t i = 0; i < pairs.size(); i++) { + int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame; + int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame; + if (timep > timeq) + dupb.push_back(pairs[i].second); + else + dupa.push_back(pairs[i].first); + } + + for (size_t i = 0; i < stracksa.size(); i++) { + std::vector::iterator iter = find(dupa.begin(), dupa.end(), i); + if (iter == dupa.end()) { + resa.push_back(stracksa[i]); + } + } + + for (size_t i = 0; i < stracksb.size(); i++) { + std::vector::iterator iter = find(dupb.begin(), dupb.end(), i); + if (iter == dupb.end()) { + resb.push_back(stracksb[i]); + } + } +} + +void ByteTracker::linear_assignment( + std::vector> & cost_matrix, int cost_matrix_size, int cost_matrix_size_size, + float thresh, std::vector> & matches, std::vector & unmatched_a, + std::vector & unmatched_b) +{ + if (cost_matrix.size() == 0) { + for (int i = 0; i < cost_matrix_size; i++) { + unmatched_a.push_back(i); + } + for (int i = 0; i < cost_matrix_size_size; i++) { + unmatched_b.push_back(i); + } + return; + } + + std::vector rowsol; + std::vector colsol; + [[maybe_unused]] float c = lapjv(cost_matrix, rowsol, colsol, true, thresh); + for (size_t i = 0; i < rowsol.size(); i++) { + if (rowsol[i] >= 0) { + std::vector match; + match.push_back(i); + match.push_back(rowsol[i]); + matches.push_back(match); + } else { + unmatched_a.push_back(i); + } + } + + for (size_t i = 0; i < colsol.size(); i++) { + if (colsol[i] < 0) { + unmatched_b.push_back(i); + } + } +} + +std::vector> ByteTracker::ious( + std::vector> & atlbrs, std::vector> & btlbrs) +{ + std::vector> ious; + if (atlbrs.size() * btlbrs.size() == 0) return ious; + + ious.resize(atlbrs.size()); + for (size_t i = 0; i < ious.size(); i++) { + ious[i].resize(btlbrs.size()); + } + + // bbox_ious + for (size_t k = 0; k < btlbrs.size(); k++) { + float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1) * (btlbrs[k][3] - btlbrs[k][1] + 1); + for (size_t n = 0; n < atlbrs.size(); n++) { + float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1; + if (iw > 0) { + float ih = std::min(atlbrs[n][3], btlbrs[k][3]) - std::max(atlbrs[n][1], btlbrs[k][1]) + 1; + if (ih > 0) { + float ua = (atlbrs[n][2] - atlbrs[n][0] + 1) * (atlbrs[n][3] - atlbrs[n][1] + 1) + + box_area - iw * ih; + ious[n][k] = iw * ih / ua; + } else { + ious[n][k] = 0.0; + } + } else { + ious[n][k] = 0.0; + } + } + } + + return ious; +} + +std::vector> ByteTracker::iou_distance( + std::vector & atracks, std::vector & btracks, int & dist_size, + int & dist_size_size) +{ + std::vector> cost_matrix; + if (atracks.size() * btracks.size() == 0) { + dist_size = atracks.size(); + dist_size_size = btracks.size(); + return cost_matrix; + } + std::vector> atlbrs, btlbrs; + for (size_t i = 0; i < atracks.size(); i++) { + atlbrs.push_back(atracks[i]->tlbr); + } + for (size_t i = 0; i < btracks.size(); i++) { + btlbrs.push_back(btracks[i].tlbr); + } + + dist_size = atracks.size(); + dist_size_size = btracks.size(); + + std::vector> _ious = ious(atlbrs, btlbrs); + + for (size_t i = 0; i < _ious.size(); i++) { + std::vector _iou; + for (size_t j = 0; j < _ious[i].size(); j++) { + _iou.push_back(1 - _ious[i][j]); + } + cost_matrix.push_back(_iou); + } + + return cost_matrix; +} + +std::vector> ByteTracker::iou_distance( + std::vector & atracks, std::vector & btracks) +{ + std::vector> atlbrs, btlbrs; + for (size_t i = 0; i < atracks.size(); i++) { + atlbrs.push_back(atracks[i].tlbr); + } + for (size_t i = 0; i < btracks.size(); i++) { + btlbrs.push_back(btracks[i].tlbr); + } + + std::vector> _ious = ious(atlbrs, btlbrs); + std::vector> cost_matrix; + for (size_t i = 0; i < _ious.size(); i++) { + std::vector _iou; + for (size_t j = 0; j < _ious[i].size(); j++) { + _iou.push_back(1 - _ious[i][j]); + } + cost_matrix.push_back(_iou); + } + + return cost_matrix; +} + +double ByteTracker::lapjv( + const std::vector> & cost, std::vector & rowsol, + std::vector & colsol, bool extend_cost, float cost_limit, bool return_cost) +{ + std::vector> cost_c; + cost_c.assign(cost.begin(), cost.end()); + + int n_rows = cost.size(); + int n_cols = cost[0].size(); + rowsol.resize(n_rows); + colsol.resize(n_cols); + + int n = 0; + if (n_rows == n_cols) { + n = n_rows; + } else { + if (!extend_cost) { + std::cout << "set extend_cost=True" << std::endl; + // system("pause"); + exit(0); + } + } + + if (extend_cost || cost_limit < std::numeric_limits::max()) { + std::vector> cost_c_extended; + + n = n_rows + n_cols; + cost_c_extended.resize(n); + for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n); + + if (cost_limit < std::numeric_limits::max()) { + for (size_t i = 0; i < cost_c_extended.size(); i++) { + for (size_t j = 0; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = cost_limit / 2.0; + } + } + } else { + float cost_max = -1; + for (size_t i = 0; i < cost_c.size(); i++) { + for (size_t j = 0; j < cost_c[i].size(); j++) { + if (cost_c[i][j] > cost_max) cost_max = cost_c[i][j]; + } + } + for (size_t i = 0; i < cost_c_extended.size(); i++) { + for (size_t j = 0; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = cost_max + 1; + } + } + } + + for (size_t i = n_rows; i < cost_c_extended.size(); i++) { + for (size_t j = n_cols; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = 0; + } + } + for (int i = 0; i < n_rows; i++) { + for (int j = 0; j < n_cols; j++) { + cost_c_extended[i][j] = cost_c[i][j]; + } + } + + cost_c.clear(); + cost_c.assign(cost_c_extended.begin(), cost_c_extended.end()); + } + + double ** cost_ptr; + cost_ptr = new double *[sizeof(double *) * n]; + for (int i = 0; i < n; i++) cost_ptr[i] = new double[sizeof(double) * n]; + + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + cost_ptr[i][j] = cost_c[i][j]; + } + } + + int * x_c = new int[sizeof(int) * n]; + int * y_c = new int[sizeof(int) * n]; + + int ret = lapjv_internal(n, cost_ptr, x_c, y_c); + if (ret != 0) { + std::cout << "Calculate Wrong!" << std::endl; + // system("pause"); + exit(0); + } + + double opt = 0.0; + + if (n != n_rows) { + for (int i = 0; i < n; i++) { + if (x_c[i] >= n_cols) x_c[i] = -1; + if (y_c[i] >= n_rows) y_c[i] = -1; + } + for (int i = 0; i < n_rows; i++) { + rowsol[i] = x_c[i]; + } + for (int i = 0; i < n_cols; i++) { + colsol[i] = y_c[i]; + } + + if (return_cost) { + for (size_t i = 0; i < rowsol.size(); i++) { + if (rowsol[i] != -1) { + opt += cost_ptr[i][rowsol[i]]; + } + } + } + } else if (return_cost) { + for (size_t i = 0; i < rowsol.size(); i++) { + opt += cost_ptr[i][rowsol[i]]; + } + } + + for (int i = 0; i < n; i++) { + delete[] cost_ptr[i]; + } + delete[] cost_ptr; + delete[] x_c; + delete[] y_c; + + return opt; +} + +cv::Scalar ByteTracker::get_color(int idx) +{ + idx += 3; + return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255); +} diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index d087f22c53374..4dc982595c588 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -2,7 +2,7 @@ autoware_bytetrack - 0.38.0 + 0.40.0 ByteTrack implementation ported toward Autoware Manato HIRABAYASHI Yoshi RI diff --git a/perception/autoware_bytetrack/src/bytetrack.cpp b/perception/autoware_bytetrack/src/bytetrack.cpp index 0edeb0ac4e247..af93034972a83 100644 --- a/perception/autoware_bytetrack/src/bytetrack.cpp +++ b/perception/autoware_bytetrack/src/bytetrack.cpp @@ -17,6 +17,8 @@ #include #include #include +#include +#include namespace autoware::bytetrack { diff --git a/perception/autoware_bytetrack/src/bytetrack_node.cpp b/perception/autoware_bytetrack/src/bytetrack_node.cpp index 1da7ebc4055f0..bee93b623ae06 100644 --- a/perception/autoware_bytetrack/src/bytetrack_node.cpp +++ b/perception/autoware_bytetrack/src/bytetrack_node.cpp @@ -20,6 +20,8 @@ #include +#include +#include #include #include diff --git a/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp b/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp index 4276b86f5cab7..a6fc463dd80f1 100644 --- a/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp +++ b/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp @@ -17,6 +17,10 @@ #include #include +#include +#include +#include + #if __has_include() #include #else @@ -34,7 +38,7 @@ ByteTrackVisualizerNode::ByteTrackVisualizerNode(const rclcpp::NodeOptions & nod { using std::chrono_literals::operator""ms; - use_raw_ = declare_parameter("use_raw", false); + use_raw_ = declare_parameter("use_raw"); // Create timer to find proper settings for subscribed topics timer_ = rclcpp::create_timer( diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index a304c9a878d5d..1acdbf9333f30 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_cluster_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index e93243de2c8b9..92e1a8aadf40c 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -2,7 +2,7 @@ autoware_cluster_merger - 0.38.0 + 0.40.0 The ROS 2 cluster merger package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_cluster_merger/test/test_cluster_merger.cpp b/perception/autoware_cluster_merger/test/test_cluster_merger.cpp index d530832659a2f..640bac0afe5fa 100644 --- a/perception/autoware_cluster_merger/test/test_cluster_merger.cpp +++ b/perception/autoware_cluster_merger/test/test_cluster_merger.cpp @@ -19,6 +19,8 @@ #include +#include +#include #include using autoware::cluster_merger::ClusterMergerNode; diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index 70674495527e7..8d784ca304874 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_compare_map_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(compare_map_segmentation): rename defined type (`#9181 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(compare_map_segmentation): add maintainer (`#9371 `_) +* fix(compare_map_segmentation): timer period mismatched with parameter (`#9259 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, badai nguyen + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index de3d97df91c6f..8c07d29156f8a 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_compare_map_segmentation - 0.38.0 + 0.40.0 The ROS 2 autoware_compare_map_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index a2e3afd62cdad..ae07d54ad53d6 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index d6b65daa82267..33c9d9ff3c788 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -28,14 +28,14 @@ namespace autoware::compare_map_segmentation { -using PointCloud = typename pcl::Filter::PointCloud; -using PointCloudPtr = typename PointCloud::Ptr; -using PointCloudConstPtr = typename PointCloud::ConstPtr; +using FilteredPointCloud = typename pcl::Filter::PointCloud; +using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; +using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr; class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { private: - PointCloudConstPtr map_ptr_; + FilteredPointCloudConstPtr map_ptr_; pcl::search::Search::Ptr tree_; public: diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index a02a6865ef9ef..9f325b36676be 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp index cdad52b5a278d..a31d5ec5dd6d6 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 291a19d02ed4b..d0bcf381cd62f 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 218f19601cd41..9fb81aa675655 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -29,14 +29,14 @@ namespace autoware::compare_map_segmentation { -using PointCloud = typename pcl::Filter::PointCloud; -using PointCloudPtr = typename PointCloud::Ptr; -using PointCloudConstPtr = typename PointCloud::ConstPtr; +using FilteredPointCloud = typename pcl::Filter::PointCloud; +using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; +using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr; class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { private: - PointCloudConstPtr map_ptr_; + FilteredPointCloudConstPtr map_ptr_; pcl::search::Search::Ptr tree_; public: @@ -55,7 +55,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader { protected: private: - PointCloudConstPtr map_ptr_; + FilteredPointCloudConstPtr map_ptr_; /* data */ public: explicit VoxelDistanceBasedDynamicMapLoader( @@ -78,7 +78,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); VoxelGridPointXYZ map_cell_voxel_grid_tmp; - PointCloudPtr map_cell_downsampled_pc_ptr_tmp; + FilteredPointCloudPtr map_cell_downsampled_pc_ptr_tmp; auto map_cell_voxel_input_tmp_ptr = std::make_shared>(map_cell_pc_tmp); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index b57874d7d3b24..e93b2097e583e 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -14,6 +14,10 @@ #include "voxel_grid_map_loader.hpp" +#include +#include +#include + namespace autoware::compare_map_segmentation { VoxelGridMapLoader::VoxelGridMapLoader( @@ -59,7 +63,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( } bool VoxelGridMapLoader::is_close_to_neighbor_voxels( - const pcl::PointXYZ & point, const double distance_threshold, const PointCloudPtr & map, + const pcl::PointXYZ & point, const double distance_threshold, const FilteredPointCloudPtr & map, VoxelGridPointXYZ & voxel) const { // check map downsampled pc @@ -224,7 +228,8 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( bool VoxelGridMapLoader::is_in_voxel( const pcl::PointXYZ & src_point, const pcl::PointXYZ & target_point, - const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const + const double distance_threshold, const FilteredPointCloudPtr & map, + VoxelGridPointXYZ & voxel) const { int voxel_index = voxel.getCentroidIndexAt(voxel.getGridCoordinates(src_point.x, src_point.y, src_point.z)); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 7faabf2266291..3685008ffc4fe 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -54,9 +54,9 @@ class VoxelGridEx : public pcl::VoxelGrid using pcl::VoxelGrid::div_b_; using pcl::VoxelGrid::inverse_leaf_size_; - using PointCloud = typename pcl::Filter::PointCloud; - using PointCloudPtr = typename PointCloud::Ptr; - using PointCloudConstPtr = typename PointCloud::ConstPtr; + using FilteredPointCloud = typename pcl::Filter::PointCloud; + using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; + using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr; public: using pcl::VoxelGrid::leaf_layout_; @@ -93,8 +93,8 @@ class VoxelGridMapLoader public: using VoxelGridPointXYZ = VoxelGridEx; - using PointCloud = typename pcl::Filter::PointCloud; - using PointCloudPtr = typename PointCloud::Ptr; + using FilteredPointCloud = typename pcl::Filter::PointCloud; + using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; explicit VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, std::string * tf_map_input_frame); @@ -106,11 +106,12 @@ class VoxelGridMapLoader const pcl::PointXYZ & point, const double distance_threshold, VoxelGridPointXYZ & voxel, pcl::search::Search::Ptr tree); bool is_close_to_neighbor_voxels( - const pcl::PointXYZ & point, const double distance_threshold, const PointCloudPtr & map, + const pcl::PointXYZ & point, const double distance_threshold, const FilteredPointCloudPtr & map, VoxelGridPointXYZ & voxel) const; bool is_in_voxel( const pcl::PointXYZ & src_point, const pcl::PointXYZ & target_point, - const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const; + const double distance_threshold, const FilteredPointCloudPtr & map, + VoxelGridPointXYZ & voxel) const; void publish_downsampled_map(const pcl::PointCloud & downsampled_pc); std::string * tf_map_input_frame_; @@ -121,7 +122,7 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader protected: rclcpp::Subscription::SharedPtr sub_map_; VoxelGridPointXYZ voxel_grid_; - PointCloudPtr voxel_map_ptr_; + FilteredPointCloudPtr voxel_map_ptr_; std::atomic_bool is_initialized_{false}; public: @@ -138,7 +139,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader struct MapGridVoxelInfo { VoxelGridPointXYZ map_cell_voxel_grid; - PointCloudPtr map_cell_pc_ptr; + FilteredPointCloudPtr map_cell_pc_ptr; float min_b_x, min_b_y, max_b_x, max_b_y; pcl::search::Search::Ptr map_cell_kdtree; }; @@ -291,7 +292,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); VoxelGridPointXYZ map_cell_voxel_grid_tmp; - PointCloudPtr map_cell_downsampled_pc_ptr_tmp; + FilteredPointCloudPtr map_cell_downsampled_pc_ptr_tmp; auto map_cell_voxel_input_tmp_ptr = std::make_shared>(map_cell_pc_tmp); diff --git a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp index 2ed66b9875ef8..683ee8f129d95 100644 --- a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp index 816ba7e8174c7..055a0a669795b 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp index 4fa0ab6321f1c..24b06ef917e65 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp index 946eef9bd0a0e..c478eb54e9808 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index fcff5c1964a10..34e514d13e007 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_crosswalk_traffic_light_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index abe5c65d3aa1d..a760c3bd950e3 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -1,7 +1,7 @@ autoware_crosswalk_traffic_light_estimator - 0.38.0 + 0.40.0 The autoware_crosswalk_traffic_light_estimator package Satoshi Ota diff --git a/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp index 5d9f06c3432b5..b0ec4d0e5ffd0 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp +++ b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp @@ -16,8 +16,11 @@ #include #include +#include #include #include +#include +#include #include #include diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index 1c956f5ae6469..f0d4f1f746eaa 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_detected_object_feature_remover ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml index aa9eaa9c9df79..a112598728614 100644 --- a/perception/autoware_detected_object_feature_remover/package.xml +++ b/perception/autoware_detected_object_feature_remover/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_feature_remover - 0.38.0 + 0.40.0 The autoware_detected_object_feature_remover package Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp b/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp index 47fe67de9d9aa..21e069144203c 100644 --- a/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp +++ b/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp @@ -14,6 +14,8 @@ #include "detected_object_feature_remover_node.hpp" +#include + namespace autoware::detected_object_feature_remover { DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options) diff --git a/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp b/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp index e54151786278a..c180387ecd63e 100644 --- a/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp +++ b/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp @@ -21,6 +21,9 @@ #include +#include +#include + namespace { using autoware::detected_object_feature_remover::DetectedObjectFeatureRemover; diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index ee2a4c502e33e..bde610a8e3fd5 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -2,6 +2,72 @@ Changelog for package autoware_detected_object_validation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* feat(object_lanelet_filter): add configurable margin for object lanel… (`#9240 `_) + * feat(object_lanelet_filter): add configurable margin for object lanelet filter + modified: perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp + * feat(object_lanelet_filter): add condition to check wheter polygon is empty in debug mode + * feat(object_lanelet_filter): fix cppcheck + * fix: brig back missing type definition + * feat: add stop watch for processing time in object lanelet filter + * feat(object_lanelet_filter): remove extra comment line + * feat(_object_lanelet_filter): udpate readme + * style(pre-commit): autofix + * Update perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + * style(pre-commit): autofix + --------- + Co-authored-by: Sebastian Zęderowski + Co-authored-by: Taekjin LEE + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings +* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Sebastian Zęderowski, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings +* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_detected_object_validation/CMakeLists.txt b/perception/autoware_detected_object_validation/CMakeLists.txt index 434c258918493..bf205fb32bb1d 100644 --- a/perception/autoware_detected_object_validation/CMakeLists.txt +++ b/perception/autoware_detected_object_validation/CMakeLists.txt @@ -48,6 +48,7 @@ target_link_libraries(obstacle_pointcloud_based_validator ) ament_auto_add_library(object_lanelet_filter SHARED + src/lanelet_filter/debug.cpp src/lanelet_filter/lanelet_filter.cpp lib/utils/utils.cpp ) diff --git a/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml b/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml index 99050d9738ae6..d15b2c81cf6db 100644 --- a/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml +++ b/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/perception/autoware_detected_object_validation/object-lanelet-filter.md b/perception/autoware_detected_object_validation/object-lanelet-filter.md index a14e28a42666d..b748885c188b4 100644 --- a/perception/autoware_detected_object_validation/object-lanelet-filter.md +++ b/perception/autoware_detected_object_validation/object-lanelet-filter.md @@ -24,6 +24,11 @@ The objects only inside of the vector map will be published. ## Parameters +| Name | Type | Description | +| ---------------------- | -------- | ------------------------------------------------------------------------------------ | +| `debug` | `bool` | if true, publish debug markers | +| `lanelet_extra_margin` | `double` | `if > 0` lanelet polygons are expanded by extra margin, `if <= 0` margin is disabled | + ### Core Parameters | Name | Type | Default Value | Description | diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index 7c6f34e95a015..9aa6f018de5fa 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_validation - 0.38.0 + 0.40.0 The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp new file mode 100644 index 0000000000000..b3765a6a45870 --- /dev/null +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp @@ -0,0 +1,130 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lanelet_filter.hpp" + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace autoware::detected_object_validation +{ +namespace lanelet_filter +{ + +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + +template +std::optional createPolygonMarker( + T polygon, rclcpp::Time stamp, std::string_view ns, size_t marker_id, + std_msgs::msg::ColorRGBA color) +{ + if (polygon.empty()) { + return std::nullopt; + } + const constexpr std::string_view FRAME_ID = "map"; + + auto create_marker = [&](auto marker_type) { + Marker marker; + marker.id = marker_id; + marker.header.frame_id = FRAME_ID; + marker.header.stamp = stamp; + marker.ns = ns; + marker.type = marker_type; + marker.action = Marker::ADD; + marker.lifetime = rclcpp::Duration::from_seconds(0.1); + return marker; + }; + + auto marker = create_marker(Marker::LINE_LIST); + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.1; + marker.color.a = color.a; + marker.color.r = color.r; + marker.color.g = color.g; + marker.color.b = color.b; + + std::vector points; + points.reserve(polygon.size() * 2); + + for (auto it = polygon.begin(); it != std::prev(polygon.end()); ++it) { + geometry_msgs::msg::Point point; + + point.x = it->x(); + point.y = it->y(); + points.push_back(point); + + const auto next = std::next(it); + point.x = next->x(); + point.y = next->y(); + points.push_back(point); + } + geometry_msgs::msg::Point point; + point.x = polygon.back().x(); + point.y = polygon.back().y(); + + points.push_back(point); + point.x = polygon.front().x(); + point.y = polygon.front().y(); + + points.push_back(point); + marker.points = points; + return marker; +} + +void ObjectLaneletFilterNode::publishDebugMarkers( + rclcpp::Time stamp, const LinearRing2d & hull, const std::vector & lanelets) +{ + using visualization_msgs::msg::Marker; + using visualization_msgs::msg::MarkerArray; + + uint8_t marker_id = 0; + Marker delete_marker; + constexpr std::string_view lanelet_range = "lanelet_range"; + constexpr std::string_view roi = "roi"; + + MarkerArray marker_array; + + std_msgs::msg::ColorRGBA color; + color.a = 0.5f; + color.r = 0.3f; + color.g = 1.0f; + color.b = 0.2f; + if (auto marker = createPolygonMarker(hull, stamp, lanelet_range, ++marker_id, color); marker) { + marker_array.markers.push_back(std::move(*marker)); + } + for (const auto & box_and_lanelet : lanelets) { + color.r = 0.2; + color.g = 0.5; + color.b = 1.0; + auto p = box_and_lanelet.second.polygon; + if (auto marker = createPolygonMarker(p, stamp, roi, ++marker_id, color); marker) { + marker_array.markers.push_back(std::move(*marker)); + } + } + viz_pub_->publish(marker_array); +} +} // namespace lanelet_filter +} // namespace autoware::detected_object_validation diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index e54ffd5452e7c..f91c4e2036227 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -30,6 +30,10 @@ #include #include +#include +#include +#include + namespace autoware::detected_object_validation { namespace lanelet_filter @@ -59,6 +63,9 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod declare_parameter("filter_settings.lanelet_direction_filter.velocity_yaw_threshold"); filter_settings_.lanelet_direction_filter_object_speed_threshold = declare_parameter("filter_settings.lanelet_direction_filter.object_speed_threshold"); + filter_settings_.debug = declare_parameter("filter_settings.debug"); + filter_settings_.lanelet_extra_margin = + declare_parameter("filter_settings.lanelet_extra_margin"); // Set publisher/subscriber map_sub_ = this->create_subscription( @@ -73,6 +80,41 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod std::make_unique(this, "object_lanelet_filter"); published_time_publisher_ = std::make_unique(this); + stop_watch_ptr_ = + std::make_unique>(); + if (filter_settings_.debug) { + viz_pub_ = this->create_publisher( + "~/debug/marker", rclcpp::QoS{1}); + } +} + +bool isInPolygon( + const geometry_msgs::msg::Pose & current_pose, const lanelet::BasicPolygon2d & polygon, + const double radius) +{ + constexpr double eps = 1.0e-9; + const lanelet::BasicPoint2d p(current_pose.position.x, current_pose.position.y); + return boost::geometry::distance(p, polygon) < radius + eps; +} + +LinearRing2d expandPolygon(const LinearRing2d & polygon, double distance) +{ + universe_utils::MultiPolygon2d multi_polygon; + bg::strategy::buffer::distance_symmetric distance_strategy(distance); + bg::strategy::buffer::join_miter join_strategy; + bg::strategy::buffer::end_flat end_strategy; + bg::strategy::buffer::point_circle circle_strategy; + bg::strategy::buffer::side_straight side_strategy; + + bg::buffer( + polygon, multi_polygon, distance_strategy, side_strategy, join_strategy, end_strategy, + circle_strategy); + + if (multi_polygon.empty()) { + return polygon; + } + + return multi_polygon.front().outer(); } void ObjectLaneletFilterNode::mapCallback( @@ -86,6 +128,8 @@ void ObjectLaneletFilterNode::mapCallback( void ObjectLaneletFilterNode::objectCallback( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_msg) { + stop_watch_ptr_->tic("processing_time"); + // Guard if (object_pub_->get_subscription_count() < 1) return; @@ -116,6 +160,9 @@ void ObjectLaneletFilterNode::objectCallback( local_rtree.insert(bbox_and_lanelet); } + if (filter_settings_.debug) { + publishDebugMarkers(input_msg->header.stamp, convex_hull, intersected_lanelets_with_bbox); + } // filtering process for (size_t index = 0; index < transformed_objects.objects.size(); ++index) { const auto & transformed_object = transformed_objects.objects.at(index); @@ -135,6 +182,8 @@ void ObjectLaneletFilterNode::objectCallback( .count(); debug_publisher_->publish( "debug/pipeline_latency_ms", pipeline_latency); + debug_publisher_->publish( + "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true)); } bool ObjectLaneletFilterNode::filterObject( @@ -217,6 +266,9 @@ LinearRing2d ObjectLaneletFilterNode::getConvexHull( LinearRing2d convex_hull; bg::convex_hull(candidate_points, convex_hull); + if (filter_settings_.lanelet_extra_margin > 0) { + return expandPolygon(convex_hull, filter_settings_.lanelet_extra_margin); + } return convex_hull; } @@ -265,12 +317,12 @@ std::vector ObjectLaneletFilterNode::getIntersectedLanelets( lanelet.attribute(lanelet::AttributeName::Subtype).value() == "road_shoulder")) { if (bg::intersects(convex_hull, lanelet.polygon2d().basicPolygon())) { // create bbox using boost for making the R-tree in later phase - lanelet::BoundingBox2d lanelet_bbox = lanelet::geometry::boundingBox2d(lanelet); - Point2d min_corner(lanelet_bbox.min().x(), lanelet_bbox.min().y()); - Point2d max_corner(lanelet_bbox.max().x(), lanelet_bbox.max().y()); - Box boost_bbox(min_corner, max_corner); + auto polygon = getPolygon(lanelet); + Box boost_bbox; + bg::envelope(polygon, boost_bbox); - intersected_lanelets_with_bbox.emplace_back(std::make_pair(boost_bbox, lanelet)); + intersected_lanelets_with_bbox.emplace_back( + std::make_pair(boost_bbox, PolygonAndLanelet{polygon, lanelet})); } } } @@ -278,6 +330,25 @@ std::vector ObjectLaneletFilterNode::getIntersectedLanelets( return intersected_lanelets_with_bbox; } +lanelet::BasicPolygon2d ObjectLaneletFilterNode::getPolygon(const lanelet::ConstLanelet & lanelet) +{ + if (filter_settings_.lanelet_extra_margin <= 0) { + return lanelet.polygon2d().basicPolygon(); + } + + auto lanelet_polygon = lanelet.polygon2d().basicPolygon(); + Polygon2d polygon; + bg::assign_points(polygon, lanelet_polygon); + + bg::correct(polygon); + auto polygon_result = expandPolygon(polygon.outer(), filter_settings_.lanelet_extra_margin); + lanelet::BasicPolygon2d result; + + bg::assign_points(result, polygon_result); + + return result; +} + bool ObjectLaneletFilterNode::isObjectOverlapLanelets( const autoware_perception_msgs::msg::DetectedObject & object, const bgi::rtree & local_rtree) @@ -314,7 +385,7 @@ bool ObjectLaneletFilterNode::isObjectOverlapLanelets( point2d.position.y = point_transformed.y; for (const auto & candidate : candidates) { - if (lanelet::utils::isInLanelet(point2d, candidate.second, 0.0)) { + if (isInPolygon(point2d, candidate.second.polygon, 0.0)) { return true; } } @@ -334,7 +405,7 @@ bool ObjectLaneletFilterNode::isPolygonOverlapLanelets( local_rtree.query(bgi::intersects(bbox_of_convex_hull), std::back_inserter(candidates)); for (const auto & box_and_lanelet : candidates) { - if (!bg::disjoint(polygon, box_and_lanelet.second.polygon2d().basicPolygon())) { + if (!bg::disjoint(polygon, box_and_lanelet.second.polygon)) { return true; } } @@ -374,14 +445,14 @@ bool ObjectLaneletFilterNode::isSameDirectionWithLanelets( local_rtree.query(bgi::intersects(bbox), std::back_inserter(candidates)); for (const auto & box_and_lanelet : candidates) { - const bool is_in_lanelet = lanelet::utils::isInLanelet( - object.kinematics.pose_with_covariance.pose, box_and_lanelet.second, 0.0); + const bool is_in_lanelet = + isInPolygon(object.kinematics.pose_with_covariance.pose, box_and_lanelet.second.polygon, 0.0); if (!is_in_lanelet) { continue; } const double lane_yaw = lanelet::utils::getLaneletAngle( - box_and_lanelet.second, object.kinematics.pose_with_covariance.pose.position); + box_and_lanelet.second.lanelet, object.kinematics.pose_with_covariance.pose.position); const double delta_yaw = object_velocity_yaw - lane_yaw; const double normalized_delta_yaw = autoware::universe_utils::normalizeRadian(delta_yaw); const double abs_norm_delta_yaw = std::fabs(normalized_delta_yaw); diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp index 05020336bc759..724e60df27e49 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp @@ -19,12 +19,14 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include "autoware_lanelet2_extension/utility/utilities.hpp" #include #include "autoware_map_msgs/msg/lanelet_map_bin.hpp" #include "autoware_perception_msgs/msg/detected_objects.hpp" +#include #include @@ -50,7 +52,13 @@ namespace bg = boost::geometry; namespace bgi = boost::geometry::index; using Point2d = bg::model::point; using Box = boost::geometry::model::box; -using BoxAndLanelet = std::pair; + +struct PolygonAndLanelet +{ + lanelet::BasicPolygon2d polygon; + lanelet::ConstLanelet lanelet; +}; +using BoxAndLanelet = std::pair; using RtreeAlgo = bgi::rstar<16>; class ObjectLaneletFilterNode : public rclcpp::Node @@ -62,10 +70,16 @@ class ObjectLaneletFilterNode : public rclcpp::Node void objectCallback(const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr); void mapCallback(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr); + void publishDebugMarkers( + rclcpp::Time stamp, const LinearRing2d & hull, const std::vector & lanelets); + rclcpp::Publisher::SharedPtr object_pub_; + rclcpp::Publisher::SharedPtr viz_pub_; rclcpp::Subscription::SharedPtr map_sub_; rclcpp::Subscription::SharedPtr object_sub_; + std::unique_ptr debug_publisher_{nullptr}; + std::unique_ptr> stop_watch_ptr_; lanelet::LaneletMapPtr lanelet_map_ptr_; std::string lanelet_frame_id_; @@ -80,6 +94,8 @@ class ObjectLaneletFilterNode : public rclcpp::Node bool lanelet_direction_filter; double lanelet_direction_filter_velocity_yaw_threshold; double lanelet_direction_filter_object_speed_threshold; + bool debug; + double lanelet_extra_margin; } filter_settings_; bool filterObject( @@ -101,6 +117,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node const bgi::rtree & local_rtree); geometry_msgs::msg::Polygon setFootprint(const autoware_perception_msgs::msg::DetectedObject &); + lanelet::BasicPolygon2d getPolygon(const lanelet::ConstLanelet & lanelet); std::unique_ptr published_time_publisher_; }; diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index 090ca795289fa..194f333acd87e 100644 --- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -21,6 +21,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp b/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp index 3b88628aa6d84..8c1db64c61d51 100644 --- a/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp +++ b/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp @@ -14,6 +14,8 @@ #include "position_filter.hpp" +#include + namespace autoware::detected_object_validation { namespace position_filter diff --git a/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp b/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp index 7a6169254348c..651cec7ae236f 100644 --- a/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp +++ b/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp @@ -19,6 +19,8 @@ #include +#include +#include #include using autoware::detected_object_validation::position_filter::ObjectPositionFilterNode; diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index 0671601742afb..dd8a44828a5ff 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_detection_by_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index 05f0ad9b4e109..b9ee4fa2aac71 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -2,7 +2,7 @@ autoware_detection_by_tracker - 0.38.0 + 0.40.0 The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index cbf29b22a46be..b53c69f07a8a9 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_elevation_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (`#9492 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml index d80c8f3d67893..6839cd60e2990 100644 --- a/perception/autoware_elevation_map_loader/package.xml +++ b/perception/autoware_elevation_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_elevation_map_loader - 0.38.0 + 0.40.0 The autoware_elevation_map_loader package Kosuke Takeuchi Taichi Higashide diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index b62e10d3c224f..b7ce92ddd6510 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_euclidean_cluster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp index 0481b7e1b742d..ce56823894bb2 100644 --- a/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::euclidean_cluster { EuclideanCluster::EuclideanCluster() diff --git a/perception/autoware_euclidean_cluster/lib/utils.cpp b/perception/autoware_euclidean_cluster/lib/utils.cpp index 624c838ef0647..6789c71310a7f 100644 --- a/perception/autoware_euclidean_cluster/lib/utils.cpp +++ b/perception/autoware_euclidean_cluster/lib/utils.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware::euclidean_cluster { geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & pointcloud) diff --git a/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index f6e8315a02b77..5f4ef98384d23 100644 --- a/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::euclidean_cluster { diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml index 18de86fba7bcb..f4568baaea19b 100644 --- a/perception/autoware_euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -2,7 +2,7 @@ autoware_euclidean_cluster - 0.38.0 + 0.40.0 The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp index b0b9448dfc0c4..cccb05160942c 100644 --- a/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp +++ b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp @@ -16,6 +16,7 @@ #include "autoware/euclidean_cluster/utils.hpp" +#include #include namespace autoware::euclidean_cluster diff --git a/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp index e54c55e4873ee..019001c54ba49 100644 --- a/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp +++ b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp @@ -16,6 +16,7 @@ #include "autoware/euclidean_cluster/utils.hpp" +#include #include namespace autoware::euclidean_cluster diff --git a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp index 759e2b3653868..256cce4841873 100644 --- a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) { diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index faa4e568eb906..b23cfa4972f1f 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -2,6 +2,135 @@ Changelog for package autoware_ground_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_ground_segmentation): remove unused function (`#9536 `_) +* fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (`#9517 `_) + * fix: clang-diagnostic-inconsistent-missing-override + * fix: pre-commit error + --------- +* feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (`#9297 `_) + * fix: replace point index to data index + * feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp + * fix: prep for non-sorted grid process + * feat: Add Cell class and Grid class for grid-based segmentation + * refactor: Add Cell and Grid classes for grid-based segmentation + * feat: initialize new grid + * refactor: Update Grid class initialization to use radians for azimuth size + refactor: Update Grid class initialization to use radians for azimuth size + refactor: Update Grid class initialization to use radians for azimuth size + * refactor: Fix calculation of azimuth index in Grid class + * feat: implement grid based segmentation, temporary logic + * refactor: idx position convert methods + * refactor: Update Grid class initialization to use radians for azimuth size + * feat: reconnect grids filled + * feat: grid initialization + * refactor: Update Grid class initialization and reset methods, implement a segmentation logic + refactor: Update Grid class initialization and reset methods, implement a segmentation logic + refactor: replace original methods + * feat: add time_keeper + * refactor: add time keeper in grid class + refactor: remove previous scan ground grid + * refactor: optimize grid boundary calculations and use squared values for radius comparisons + * fix: use pointer for prev cell + * refactor: remove time keeper called too many times + * fix: radial idx estimation fix + * refactor: optimize ground bin average calculation + fix: ground bin logic fix + * refactor: make grid ground filter separate + * refactor: remove unused code + fix: azimuth grid index converter bug + * fix: segmentation logic determination fix + fix: cell connection bug fix + * refactor: optimize pseudoArcTan2 function + * refactor: update grid radial calculation + * refactor: contain input cloud ptr + * refactor: separate ground initialization + * refactor: Remove unused code and optimize grid radial calculation + * refactor: Inline functions for improved performance + * feat: various azimuth interval per radial distance + * refactor: Fix bug in grid ground filter segmentation logic and cell connection + Remove unused code and optimize grid radial calculation + * fix: add missing offset calculation + * refactor: Improve grid ground filter segmentation logic and cell connection + Optimize grid radial calculation and remove unused code + * refactor: Remove debug print statements and optimize grid initialization + * refactor: Update grid radial limit to 200.0m + * refactor: Update grid size to 0.5m for improved ground segmentation + * refactor: Improve grid ground filter segmentation logic + * refactor: Optimize grid ground filter segmentation logic + * refactor: Update logic order for fast segmentation + * fix: resolve cppcheck issue + * fix: pseudo atan2 fix for even distribution of azimuth + * fix: remove unused next_grid_idx\_ update + * fix: introduce pseudo tangent to match result of pseudo arc tangent + * style(pre-commit): autofix + * fix: limit gradient + * fix: bring previous average when the ground bin is empty + * fix: back to constant azimuth interval grid + * perf: remove division for efficiency + * perf: remove division for efficiency + * perf: contain radius and height to avoid double calculation + * perf: optimize grid distance calculation for efficiency + * style(pre-commit): autofix + * perf: using isEmpty for efficiency + * chore: initialization fix + * perf: initial ground cell is integrated into the classify method for efficiency + * perf: refactor grid initialization for efficiency + * perf: optimize grid cell linking for efficiency + * Revert "perf: initial ground cell is integrated into the classify method for efficiency" + This reverts commit a4ab70b630f966d3e2827a07a0ec27079ecc78d2. + * fix: fix pseudo atan2 bug + * feat: various azimuth interval by range + * perf: optimize pseudoArcTan2 function for efficiency + * style(pre-commit): autofix + * fix: avoid zero division on the slope estimation + * fix: limit recursive search + refactor: improve efficiency of recursiveSearch function + Fix function parameter type in GridGroundFilter + * refactor: add comments about unclassified case + * chore: add comment to explain methods + * refactor: remove unnecessary include statement + * refactor: cast point_list size to int in getPointNum method + * refactor: add index check in getCell method + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 1cd7df3be4aa1..1cb179970e1ae 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_ground_segmentation - 0.38.0 + 0.40.0 The ROS 2 autoware_ground_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp index 83e0538bd56de..5ef05485d36a5 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp index 05fcde9317abe..0dbbe1eabb8da 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp @@ -114,7 +114,6 @@ class Cell // method to check if the cell is empty inline bool isEmpty() const { return point_list_.empty(); } - inline int getPointNum() const { return static_cast(point_list_.size()); } // index of the cell int grid_idx_; diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp index 8b754357cd45f..9c8106f59b917 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp @@ -18,6 +18,9 @@ #include +#include +#include + namespace autoware::ground_segmentation { diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index 62db8307a0a37..41c41f1899163 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -146,9 +146,9 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt // TODO(taisa1): Temporary Implementation: Remove this interface when all the filter nodes // conform to new API - virtual void faster_filter( + void faster_filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const autoware::pointcloud_preprocessor::TransformInfo & transform_info); + const autoware::pointcloud_preprocessor::TransformInfo & transform_info) override; tf2_ros::Buffer tf_buffer_{get_clock()}; tf2_ros::TransformListener tf_listener_{tf_buffer_}; diff --git a/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp b/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp index a3f8b9d4b19b3..5e4f16e359607 100644 --- a/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp @@ -24,6 +24,11 @@ #include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp b/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp index 1e494f683f181..3626aaa837309 100644 --- a/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp @@ -21,6 +21,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp b/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp index 706ffff3ce511..2c0f649168703 100644 --- a/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp @@ -20,6 +20,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index 4a309a3e4dcff..f0a39ef78c708 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -2,6 +2,101 @@ Changelog for package autoware_image_projection_based_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) + * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation + * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian + * style(pre-commit): autofix + * refactor(lidar_centerpoint): remove unused variables + * refactor: remove unused variables + fix: implement non-maximum suppression logic to the transfusion + refactor: remove unused parameter iou_nms_target_class_names + Revert "fix: implement non-maximum suppression logic to the transfusion" + This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45. + fix: revert transfusion modification + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: remove max rois limit in the image projection based fusion (`#9596 `_) + feat: remove max rois limit +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_image_projection_based_fusion): detected object roi box projection fix (`#9519 `_) + * fix: detected object roi box projection fix + 1. eliminate misuse of std::numeric_limits::min() + 2. fix roi range up to the image edges + * fix: fix roi range calculation in RoiDetectedObjectFusionNode + Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates. + --------- +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* chore(image_projection_based_fusion): add debug for roi_pointcloud fusion (`#9481 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9509 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9505 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9495 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9516 `_) + fix: clang-diagnostic-inconsistent-missing-override +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9510 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9473 `_) + * fix: clang-diagnostic-unused-private-field + * fix: build error + --------- +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9472 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yoshi Ri, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* Contributors: Esteve Fernandez, Taekjin LEE, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_image_projection_based_fusion/CMakeLists.txt b/perception/autoware_image_projection_based_fusion/CMakeLists.txt index 921a46ccebe3e..73d305d2ab2a8 100644 --- a/perception/autoware_image_projection_based_fusion/CMakeLists.txt +++ b/perception/autoware_image_projection_based_fusion/CMakeLists.txt @@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.14) project(autoware_image_projection_based_fusion) # add_compile_options(-Wno-unknown-pragmas) add_compile_options(-Wno-unknown-pragmas -fopenmp) -add_compile_options(-Wno-error=attributes) find_package(autoware_cmake REQUIRED) find_package(OpenCV REQUIRED) diff --git a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml index 9227e4fa9319a..5448dd48dc456 100644 --- a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml +++ b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml @@ -9,7 +9,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.3 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 diff --git a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md index e04b0f48398cb..92f62443918c0 100644 --- a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md +++ b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md @@ -43,7 +43,6 @@ The lidar points are projected onto the output of an image-only 2d object detect | `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | | `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored | | `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. | -| `post_process_params.iou_nms_target_class_names` | list[string] | ["CAR"] | An array of class names to be target in NMS. | | `post_process_params.iou_nms_search_distance_2d` | double | 10.0 | A maximum distance value to search the nearest objects. | | `post_process_params.iou_nms_threshold` | double | 0.1 | A threshold value of NMS using IoU score. | | `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. | diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp index d74347772ef10..f4229382ba38c 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp @@ -56,7 +56,6 @@ class Debugger void imageCallback( const sensor_msgs::msg::Image::ConstSharedPtr input_image_msg, const std::size_t image_id); - [[maybe_unused]] rclcpp::Node * node_ptr_; std::shared_ptr image_transport_; std::vector input_camera_topics_; std::vector image_subs_; diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index aa3e3fe096306..8c0e2ed78fc6c 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -76,7 +76,7 @@ class PointPaintingFusionNode std::unique_ptr detector_ptr_{nullptr}; - bool out_of_scope(const DetectedObjects & obj); + bool out_of_scope(const DetectedObjects & obj) override; }; } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp index c7cad2b5a64d0..4de49df61a071 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp @@ -49,7 +49,7 @@ class RoiPointCloudFusionNode const PointCloud2 & input_pointcloud_msg, const std::size_t image_id, const DetectedObjectsWithFeature & input_roi_msg, const sensor_msgs::msg::CameraInfo & camera_info, PointCloud2 & output_pointcloud_msg) override; - bool out_of_scope(const DetectedObjectWithFeature & obj); + bool out_of_scope(const DetectedObjectWithFeature & obj) override; }; } // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp index 152829ea769d3..b09e9521bdcdb 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp @@ -62,7 +62,7 @@ class SegmentPointCloudFusionNode : public FusionNode autoware_image_projection_based_fusion - 0.38.0 + 0.40.0 The autoware_image_projection_based_fusion package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json index 57d8bc500f3c6..ab52ac0fcdf2c 100644 --- a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json +++ b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json @@ -46,12 +46,6 @@ "minimum": 0.0, "maximum": 1.0 }, - "iou_nms_target_class_names": { - "type": "array", - "description": "An array of class names to be target in NMS.", - "default": ["CAR"], - "uniqueItems": true - }, "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", diff --git a/perception/autoware_image_projection_based_fusion/src/debugger.cpp b/perception/autoware_image_projection_based_fusion/src/debugger.cpp index 90952f3f6a8f5..21d2b1322a418 100644 --- a/perception/autoware_image_projection_based_fusion/src/debugger.cpp +++ b/perception/autoware_image_projection_based_fusion/src/debugger.cpp @@ -14,6 +14,10 @@ #include "autoware/image_projection_based_fusion/debugger.hpp" +#include +#include +#include + #if __has_include() #include #else @@ -41,7 +45,7 @@ namespace autoware::image_projection_based_fusion Debugger::Debugger( rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size, std::vector input_camera_topics) -: node_ptr_(node_ptr), input_camera_topics_{input_camera_topics} +: input_camera_topics_{input_camera_topics} { image_buffers_.resize(image_num); image_buffer_size_ = image_buffer_size; diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp index 16a089fcc6d09..6c575752b52e5 100644 --- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp @@ -24,6 +24,9 @@ #include #include +#include +#include +#include #ifdef ROS_DISTRO_GALACTIC #include @@ -54,8 +57,8 @@ FusionNode::FusionNode( } if (rois_number_ > 8) { RCLCPP_WARN( - this->get_logger(), "maximum rois_number is 8. current rois_number is %zu", rois_number_); - rois_number_ = 8; + this->get_logger(), + "Current rois_number is %zu. Large rois number may cause performance issue.", rois_number_); } // Set parameters @@ -212,7 +215,7 @@ void FusionNode::subCallback( preprocess(*output_msg); int64_t timestamp_nsec = - (*output_msg).header.stamp.sec * (int64_t)1e9 + (*output_msg).header.stamp.nanosec; + (*output_msg).header.stamp.sec * static_cast(1e9) + (*output_msg).header.stamp.nanosec; // if matching rois exist, fuseOnSingle // please ask maintainers before parallelize this loop because debugger is not thread safe @@ -229,14 +232,17 @@ void FusionNode::subCallback( std::list outdate_stamps; for (const auto & [k, v] : cached_roi_msgs_.at(roi_i)) { - int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * (int64_t)1e6; - int64_t interval = abs(int64_t(k) - new_stamp); + int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * static_cast(1e6); + int64_t interval = abs(static_cast(k) - new_stamp); - if (interval <= min_interval && interval <= match_threshold_ms_ * (int64_t)1e6) { + if ( + interval <= min_interval && interval <= match_threshold_ms_ * static_cast(1e6)) { min_interval = interval; matched_stamp = k; - } else if (int64_t(k) < new_stamp && interval > match_threshold_ms_ * (int64_t)1e6) { - outdate_stamps.push_back(int64_t(k)); + } else if ( + static_cast(k) < new_stamp && + interval > match_threshold_ms_ * static_cast(1e6)) { + outdate_stamps.push_back(static_cast(k)); } } @@ -290,7 +296,7 @@ void FusionNode::subCallback( processing_time_ms = 0; } } else { - cached_msg_.first = int64_t(timestamp_nsec); + cached_msg_.first = timestamp_nsec; cached_msg_.second = output_msg; processing_time_ms = stop_watch_ptr_->toc("processing_time", true); } @@ -302,15 +308,16 @@ void FusionNode::roiCallback( { stop_watch_ptr_->toc("processing_time", true); - int64_t timestamp_nsec = - (*input_roi_msg).header.stamp.sec * (int64_t)1e9 + (*input_roi_msg).header.stamp.nanosec; + int64_t timestamp_nsec = (*input_roi_msg).header.stamp.sec * static_cast(1e9) + + (*input_roi_msg).header.stamp.nanosec; // if cached Msg exist, try to match if (cached_msg_.second != nullptr) { - int64_t new_stamp = cached_msg_.first + input_offset_ms_.at(roi_i) * (int64_t)1e6; + int64_t new_stamp = cached_msg_.first + input_offset_ms_.at(roi_i) * static_cast(1e6); int64_t interval = abs(timestamp_nsec - new_stamp); - if (interval < match_threshold_ms_ * (int64_t)1e6 && is_fused_.at(roi_i) == false) { + if ( + interval < match_threshold_ms_ * static_cast(1e6) && is_fused_.at(roi_i) == false) { if (camera_info_map_.find(roi_i) == camera_info_map_.end()) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i); diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index ac9ed88c2d98c..d4601e26dda46 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -29,6 +29,9 @@ #include #include +#include +#include +#include namespace { @@ -168,9 +171,6 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt { autoware::lidar_centerpoint::NMSParams p; - p.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV; - p.target_class_names_ = this->declare_parameter>( - "post_process_params.iou_nms_target_class_names"); p.search_distance_2d_ = this->declare_parameter("post_process_params.iou_nms_search_distance_2d"); p.iou_threshold_ = this->declare_parameter("post_process_params.iou_nms_threshold"); diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp index 205d231ab32bd..e3813a020e319 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::image_projection_based_fusion { diff --git a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index e925efdc0afcb..9a94613a2b788 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -20,6 +20,12 @@ #include #include +#include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index 3a67d37c415c8..3ef3af8168f53 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -19,6 +19,11 @@ #include #include +#include +#include +#include +#include + namespace autoware::image_projection_based_fusion { @@ -64,7 +69,7 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg) } int64_t timestamp_nsec = - output_msg.header.stamp.sec * (int64_t)1e9 + output_msg.header.stamp.nanosec; + output_msg.header.stamp.sec * static_cast(1e9) + output_msg.header.stamp.nanosec; passthrough_object_flags_map_.insert(std::make_pair(timestamp_nsec, passthrough_object_flags)); fused_object_flags_map_.insert(std::make_pair(timestamp_nsec, fused_object_flags)); ignored_object_flags_map_.insert(std::make_pair(timestamp_nsec, ignored_object_flags)); @@ -113,8 +118,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( const image_geometry::PinholeCameraModel & pinhole_camera_model) { std::map object_roi_map; - int64_t timestamp_nsec = - input_object_msg.header.stamp.sec * (int64_t)1e9 + input_object_msg.header.stamp.nanosec; + int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast(1e9) + + input_object_msg.header.stamp.nanosec; if (passthrough_object_flags_map_.size() == 0) { return object_roi_map; } @@ -141,8 +146,7 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( transformPoints(vertices, object2camera_affine, vertices_camera_coord); } - double min_x(std::numeric_limits::max()), min_y(std::numeric_limits::max()), - max_x(std::numeric_limits::min()), max_y(std::numeric_limits::min()); + double min_x(image_width), min_y(image_height), max_x(0.0), max_y(0.0); std::size_t point_on_image_cnt = 0; for (const auto & point : vertices_camera_coord) { if (point.z() <= 0.0) { @@ -159,8 +163,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( max_y = std::max(proj_point.y(), max_y); if ( - proj_point.x() >= 0 && proj_point.x() <= image_width - 1 && proj_point.y() >= 0 && - proj_point.y() <= image_height - 1) { + proj_point.x() >= 0 && proj_point.x() < image_width && proj_point.y() >= 0 && + proj_point.y() < image_height) { point_on_image_cnt++; if (debugger_) { @@ -172,18 +176,16 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( continue; } - min_x = std::max(min_x, 0.0); - min_y = std::max(min_y, 0.0); - max_x = std::min(max_x, image_width - 1); - max_y = std::min(max_y, image_height - 1); + const uint32_t idx_min_x = std::floor(std::max(min_x, 0.0)); + const uint32_t idx_min_y = std::floor(std::max(min_y, 0.0)); + const uint32_t idx_max_x = std::ceil(std::min(max_x, image_width)); + const uint32_t idx_max_y = std::ceil(std::min(max_y, image_height)); DetectedObjectWithFeature object_roi; - object_roi.feature.roi.x_offset = static_cast(min_x); - object_roi.feature.roi.y_offset = static_cast(min_y); - object_roi.feature.roi.width = - static_cast(max_x) - static_cast(min_x); - object_roi.feature.roi.height = - static_cast(max_y) - static_cast(min_y); + object_roi.feature.roi.x_offset = idx_min_x; + object_roi.feature.roi.y_offset = idx_min_y; + object_roi.feature.roi.width = idx_max_x - idx_min_x; + object_roi.feature.roi.height = idx_max_y - idx_min_y; object_roi.object = object; object_roi_map.insert(std::make_pair(obj_i, object_roi)); @@ -200,8 +202,8 @@ void RoiDetectedObjectFusionNode::fuseObjectsOnImage( const std::vector & image_rois, const std::map & object_roi_map) { - int64_t timestamp_nsec = - input_object_msg.header.stamp.sec * (int64_t)1e9 + input_object_msg.header.stamp.nanosec; + int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast(1e9) + + input_object_msg.header.stamp.nanosec; if (fused_object_flags_map_.size() == 0 || ignored_object_flags_map_.size() == 0) { return; } @@ -284,7 +286,7 @@ void RoiDetectedObjectFusionNode::publish(const DetectedObjects & output_msg) } int64_t timestamp_nsec = - output_msg.header.stamp.sec * (int64_t)1e9 + output_msg.header.stamp.nanosec; + output_msg.header.stamp.sec * static_cast(1e9) + output_msg.header.stamp.nanosec; if ( passthrough_object_flags_map_.size() == 0 || fused_object_flags_map_.size() == 0 || ignored_object_flags_map_.size() == 0) { diff --git a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp index 039e4f7591bbc..f9eb4ef909282 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp @@ -17,6 +17,8 @@ #include "autoware/image_projection_based_fusion/utils/geometry.hpp" #include "autoware/image_projection_based_fusion/utils/utils.hpp" +#include + #ifdef ROS_DISTRO_GALACTIC #include #include @@ -85,6 +87,8 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( if (!checkCameraInfo(camera_info)) return; std::vector output_objs; + std::vector debug_image_rois; + std::vector debug_image_points; // select ROIs for fusion for (const auto & feature_obj : input_roi_msg.feature_objects) { if (fuse_unknown_only_) { @@ -92,10 +96,12 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( autoware_perception_msgs::msg::ObjectClassification::UNKNOWN; if (is_roi_label_unknown) { output_objs.push_back(feature_obj); + debug_image_rois.push_back(feature_obj.feature.roi); } } else { // TODO(badai-nguyen): selected class from a list output_objs.push_back(feature_obj); + debug_image_rois.push_back(feature_obj.feature.roi); } } if (output_objs.empty()) { @@ -166,12 +172,25 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( clusters_data_size.at(i) += point_step; } } + if (debugger_) { + // add all points inside image to debug + if ( + projected_point.x() > 0 && projected_point.x() < camera_info.width && + projected_point.y() > 0 && projected_point.y() < camera_info.height) { + debug_image_points.push_back(projected_point); + } + } } // refine and update output_fused_objects_ updateOutputFusedObjects( output_objs, clusters, clusters_data_size, input_pointcloud_msg, input_roi_msg.header, tf_buffer_, min_cluster_size_, max_cluster_size_, cluster_2d_tolerance_, output_fused_objects_); + if (debugger_) { + debugger_->image_rois_ = debug_image_rois; + debugger_->obstacle_points_ = debug_image_points; + debugger_->publishImage(image_id, input_roi_msg.header.stamp); + } } bool RoiPointCloudFusionNode::out_of_scope(__attribute__((unused)) diff --git a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp index 430b452b391f6..e678a956bc64e 100644 --- a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp @@ -19,6 +19,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp b/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp index 4bea6ac0fe713..a5a86cc0eb3a6 100644 --- a/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp +++ b/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::image_projection_based_fusion { diff --git a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp index 912f6e99355e4..338a5605e5a79 100644 --- a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp +++ b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp @@ -16,6 +16,10 @@ #include +#include +#include +#include + namespace autoware::image_projection_based_fusion { bool checkCameraInfo(const sensor_msgs::msg::CameraInfo & camera_info) diff --git a/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp b/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp index cf3778e7a0c84..b51ad06eb7b88 100644 --- a/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp +++ b/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(objectToVertices, test_objectToVertices) { // Test `boundingBoxToVertices()` and `cylinderToVertices()` simultaneously diff --git a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp index ac179c66dd3d0..79dd775928f41 100644 --- a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp +++ b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp @@ -17,6 +17,8 @@ #include +#include + using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index 08824ecfbd3aa..5841ae3059503 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_lidar_apollo_instance_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index b0f653dbeb3d0..8a3d5a7ea6f76 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_lidar_apollo_instance_segmentation - 0.38.0 + 0.40.0 autoware_lidar_apollo_instance_segmentation Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp index 86b1bf10c75a1..60aa09c8e16d7 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp @@ -22,8 +22,11 @@ #include #include +#include +#include #include #include +#include #include namespace autoware diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp index e1aa0fc0494de..fa70863d9c800 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp @@ -17,6 +17,7 @@ #include "autoware/lidar_apollo_instance_segmentation/log_table.hpp" #include +#include namespace { diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp index 3314b1c7421d3..9a3e13b81120f 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware { namespace lidar_apollo_instance_segmentation diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index 6809f690c75d1..46f68e7462377 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -2,6 +2,64 @@ Changelog for package autoware_lidar_centerpoint ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) + * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation + * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian + * style(pre-commit): autofix + * refactor(lidar_centerpoint): remove unused variables + * refactor: remove unused variables + fix: implement non-maximum suppression logic to the transfusion + refactor: remove unused parameter iou_nms_target_class_names + Revert "fix: implement non-maximum suppression logic to the transfusion" + This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45. + fix: revert transfusion modification + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_lidar_centerpoint): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9515 `_) +* feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (`#9488 `_) + * feat: added a check to notify if we are dropping pillars + * chore: updated text + * chore: throttled the message + --------- +* fix(autoware_lidar_centerpoint): fix clang-diagnostic-unused-private-field (`#9471 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md index 471712a637dec..06ded16d5fd40 100644 --- a/perception/autoware_lidar_centerpoint/README.md +++ b/perception/autoware_lidar_centerpoint/README.md @@ -56,7 +56,6 @@ Note that these parameters are associated with ONNX file, predefined during the | `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | | `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored | | `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. | -| `post_process_params.iou_nms_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression | | `post_process_params.iou_nms_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. | | `post_process_params.iou_nms_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression | | `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. | @@ -267,7 +266,6 @@ point_cloud_range, point_feature_size, voxel_size, etc. according to the trainin encoder_in_feature_size: 9 # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml index 53d77e8d1c42c..d2f6d3bb3ab6c 100644 --- a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml +++ b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml @@ -10,7 +10,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml index bd5fc5f3567a5..f4a5d59c3c06f 100644 --- a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml +++ b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml @@ -11,7 +11,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml index 53d77e8d1c42c..d2f6d3bb3ab6c 100644 --- a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -10,7 +10,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp index 57abd053af718..74bc5c2f57deb 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp @@ -28,36 +28,12 @@ namespace autoware::lidar_centerpoint { using autoware_perception_msgs::msg::DetectedObject; -// TODO(yukke42): now only support IoU_BEV -enum class NMS_TYPE { - IoU_BEV - // IoU_3D - // Distance_2D - // Distance_3D -}; - struct NMSParams { - NMS_TYPE nms_type_{}; - std::vector target_class_names_{}; double search_distance_2d_{}; double iou_threshold_{}; - // double distance_threshold_{}; }; -std::vector classNamesToBooleanMask(const std::vector & class_names) -{ - std::vector mask; - constexpr std::size_t num_object_classification = 8; - mask.resize(num_object_classification); - for (const auto & class_name : class_names) { - const auto semantic_type = getSemanticType(class_name); - mask.at(semantic_type) = true; - } - - return mask; -} - class NonMaximumSuppression { public: @@ -66,14 +42,13 @@ class NonMaximumSuppression std::vector apply(const std::vector &); private: - bool isTargetLabel(const std::uint8_t); - bool isTargetPairObject(const DetectedObject &, const DetectedObject &); Eigen::MatrixXd generateIoUMatrix(const std::vector &); NMSParams params_{}; - std::vector target_class_mask_{}; + + double search_distance_2d_sq_{}; }; } // namespace autoware::lidar_centerpoint diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp index 66384d192ae43..18d4f3abb3703 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp @@ -28,6 +28,7 @@ namespace autoware::lidar_centerpoint class VoxelGeneratorTemplate { public: + virtual ~VoxelGeneratorTemplate() = default; explicit VoxelGeneratorTemplate( const DensificationParam & param, const CenterPointConfig & config); diff --git a/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp b/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp index 80c842f8746a4..f2806bb84282b 100644 --- a/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp +++ b/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp @@ -14,6 +14,9 @@ #include "autoware/lidar_centerpoint/detection_class_remapper.hpp" +#include +#include + namespace autoware::lidar_centerpoint { diff --git a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp index d0c0bb156f4a2..7767c0b5cbb02 100644 --- a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp @@ -14,6 +14,9 @@ #include "autoware/lidar_centerpoint/network/network_trt.hpp" +#include +#include + namespace autoware::lidar_centerpoint { bool VoxelEncoderTRT::setProfile( diff --git a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp index 8f3f0fa9b20e2..dbc6924f6fd25 100644 --- a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp @@ -18,8 +18,11 @@ #include #include +#include + namespace autoware::lidar_centerpoint { +using Label = autoware_perception_msgs::msg::ObjectClassification; void NonMaximumSuppression::setParameters(const NMSParams & params) { @@ -27,15 +30,7 @@ void NonMaximumSuppression::setParameters(const NMSParams & params) assert(params.iou_threshold_ >= 0.0 && params.iou_threshold_ <= 1.0); params_ = params; - target_class_mask_ = classNamesToBooleanMask(params.target_class_names_); -} - -bool NonMaximumSuppression::isTargetLabel(const uint8_t label) -{ - if (label >= target_class_mask_.size()) { - return false; - } - return target_class_mask_.at(label); + search_distance_2d_sq_ = params.search_distance_2d_ * params.search_distance_2d_; } bool NonMaximumSuppression::isTargetPairObject( @@ -46,15 +41,15 @@ bool NonMaximumSuppression::isTargetPairObject( const auto label2 = autoware::object_recognition_utils::getHighestProbLabel(object2.classification); - if (isTargetLabel(label1) && isTargetLabel(label2)) { - return true; + // if labels are not the same, and one of them is pedestrian, do not suppress + if (label1 != label2 && (label1 == Label::PEDESTRIAN || label2 == Label::PEDESTRIAN)) { + return false; } - const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_; const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d( autoware::object_recognition_utils::getPose(object1), autoware::object_recognition_utils::getPose(object2)); - return sqr_dist_2d <= search_sqr_dist_2d; + return sqr_dist_2d <= search_distance_2d_sq_; } Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( @@ -71,14 +66,12 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( continue; } - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); - triangular_matrix(target_i, source_i) = iou; - // NOTE: If the target object has any objects with iou > iou_threshold, it - // will be suppressed regardless of later results. - if (iou > params_.iou_threshold_) { - break; - } + const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); + triangular_matrix(target_i, source_i) = iou; + // NOTE: If the target object has any objects with iou > iou_threshold, it + // will be suppressed regardless of later results. + if (iou > params_.iou_threshold_) { + break; } } } @@ -95,10 +88,9 @@ std::vector NonMaximumSuppression::apply( output_objects.reserve(input_objects.size()); for (std::size_t i = 0; i < input_objects.size(); ++i) { const auto value = iou_matrix.row(i).maxCoeff(); - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - if (value <= params_.iou_threshold_) { - output_objects.emplace_back(input_objects.at(i)); - } + + if (value <= params_.iou_threshold_) { + output_objects.emplace_back(input_objects.at(i)); } } diff --git a/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp b/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp index f975449530e5c..208c96a369182 100644 --- a/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp +++ b/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp @@ -19,6 +19,7 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" +#include #include namespace autoware::lidar_centerpoint diff --git a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp index c76fa6567ab51..0ea681538d8c1 100644 --- a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp @@ -18,6 +18,9 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/constants.hpp" +#include +#include + namespace autoware::lidar_centerpoint { diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 4f33fd14dbb8f..78e900f8198f6 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -2,7 +2,7 @@ autoware_lidar_centerpoint - 0.38.0 + 0.40.0 The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda diff --git a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json index c3268f0e90d9b..f2c12b7588f9b 100644 --- a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json +++ b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json @@ -42,12 +42,6 @@ "minimum": 0.0, "maximum": 1.0 }, - "iou_nms_target_class_names": { - "type": "array", - "description": "An array of class names to be target in NMS.", - "default": ["CAR"], - "uniqueItems": true - }, "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", diff --git a/perception/autoware_lidar_centerpoint/src/node.cpp b/perception/autoware_lidar_centerpoint/src/node.cpp index 5b92e5c811a23..59acceeac54d6 100644 --- a/perception/autoware_lidar_centerpoint/src/node.cpp +++ b/perception/autoware_lidar_centerpoint/src/node.cpp @@ -80,9 +80,6 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti { NMSParams p; - p.nms_type_ = NMS_TYPE::IoU_BEV; - p.target_class_names_ = this->declare_parameter>( - "post_process_params.iou_nms_target_class_names"); p.search_distance_2d_ = this->declare_parameter("post_process_params.iou_nms_search_distance_2d"); p.iou_threshold_ = this->declare_parameter("post_process_params.iou_nms_threshold"); diff --git a/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp b/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp index 48642bf7227dc..ae893c38b8d6a 100644 --- a/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(DetectionClassRemapperTest, MapClasses) { autoware::lidar_centerpoint::DetectionClassRemapper remapper; diff --git a/perception/autoware_lidar_centerpoint/test/test_nms.cpp b/perception/autoware_lidar_centerpoint/test/test_nms.cpp index 4a59d4dba98bf..9a2217f7af0b4 100644 --- a/perception/autoware_lidar_centerpoint/test/test_nms.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_nms.cpp @@ -16,14 +16,14 @@ #include +#include + TEST(NonMaximumSuppressionTest, Apply) { autoware::lidar_centerpoint::NonMaximumSuppression nms; autoware::lidar_centerpoint::NMSParams params; params.search_distance_2d_ = 1.0; params.iou_threshold_ = 0.2; - params.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV; - params.target_class_names_ = {"CAR"}; nms.setParameters(params); std::vector input_objects(4); diff --git a/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp b/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp index 5605d2df6a9d9..d45d18f51cc4e 100644 --- a/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp @@ -16,6 +16,9 @@ #include +#include +#include + TEST(TestSuite, box3DToDetectedObject) { std::vector class_names = {"CAR", "TRUCK", "BUS", "TRAILER", diff --git a/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp index a5b5337e3b24e..4b94cb983c862 100644 --- a/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp @@ -18,6 +18,9 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" +#include +#include + void VoxelGeneratorTest::SetUp() { // Setup things that should occur before every test instance should go here diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index bfde461fad192..f397c9e1ddc06 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_lidar_transfusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(autoware_lidar_transfusion): non-maximum suppression target decision logic (`#9612 `_) + fix: non-maximum suppression target decision logic +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* chore(autoware_lidar_transfusion): added a warning if we are dropping voxels (`#9486 `_) + * chore: added a warning if we are dropping voxels + * chore: changed the warning to a throttled one + --------- +* fix(autoware_lidar_transfusion): fix clang-diagnostic-unused-private-field (`#9499 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml index 47eaa800e62fc..979f8b9cc09e3 100644 --- a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml +++ b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml @@ -10,7 +10,6 @@ densification_world_frame_id: map # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp index 9f07d2448fcae..26c4e324781d0 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp @@ -28,35 +28,12 @@ namespace autoware::lidar_transfusion { using autoware_perception_msgs::msg::DetectedObject; -enum class NMS_TYPE { - IoU_BEV - // IoU_3D - // Distance_2D - // Distance_3D -}; - struct NMSParams { - NMS_TYPE nms_type_{}; - std::vector target_class_names_{}; double search_distance_2d_{}; double iou_threshold_{}; - // double distance_threshold_{}; }; -std::vector classNamesToBooleanMask(const std::vector & class_names) -{ - std::vector mask; - constexpr std::size_t num_object_classification = 8; - mask.resize(num_object_classification); - for (const auto & class_name : class_names) { - const auto semantic_type = getSemanticType(class_name); - mask.at(semantic_type) = true; - } - - return mask; -} - class NonMaximumSuppression { public: @@ -65,14 +42,13 @@ class NonMaximumSuppression std::vector apply(const std::vector &); private: - bool isTargetLabel(const std::uint8_t); - bool isTargetPairObject(const DetectedObject &, const DetectedObject &); Eigen::MatrixXd generateIoUMatrix(const std::vector &); NMSParams params_{}; - std::vector target_class_mask_{}; + + double search_distance_2d_sq_{}; }; } // namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp b/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp index 08bdc65e666de..661cf9b8cded4 100644 --- a/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp +++ b/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp @@ -14,6 +14,9 @@ #include +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp index 052b7627166f9..8e3cb8a55ec7e 100644 --- a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp @@ -19,6 +19,8 @@ #include #include #include +#include +#include namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp index 1ce151d2960ef..003358dc6b431 100644 --- a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp @@ -18,8 +18,11 @@ #include #include +#include + namespace autoware::lidar_transfusion { +using Label = autoware_perception_msgs::msg::ObjectClassification; void NonMaximumSuppression::setParameters(const NMSParams & params) { @@ -27,15 +30,7 @@ void NonMaximumSuppression::setParameters(const NMSParams & params) assert(params.iou_threshold_ >= 0.0 && params.iou_threshold_ <= 1.0); params_ = params; - target_class_mask_ = classNamesToBooleanMask(params.target_class_names_); -} - -bool NonMaximumSuppression::isTargetLabel(const uint8_t label) -{ - if (label >= target_class_mask_.size()) { - return false; - } - return target_class_mask_.at(label); + search_distance_2d_sq_ = params.search_distance_2d_ * params.search_distance_2d_; } bool NonMaximumSuppression::isTargetPairObject( @@ -46,15 +41,15 @@ bool NonMaximumSuppression::isTargetPairObject( const auto label2 = autoware::object_recognition_utils::getHighestProbLabel(object2.classification); - if (isTargetLabel(label1) && isTargetLabel(label2)) { - return true; + // if labels are not the same, and one of them is pedestrian, do not suppress + if (label1 != label2 && (label1 == Label::PEDESTRIAN || label2 == Label::PEDESTRIAN)) { + return false; } - const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_; const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d( autoware::object_recognition_utils::getPose(object1), autoware::object_recognition_utils::getPose(object2)); - return sqr_dist_2d <= search_sqr_dist_2d; + return sqr_dist_2d <= search_distance_2d_sq_; } Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( @@ -71,14 +66,12 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( continue; } - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); - triangular_matrix(target_i, source_i) = iou; - // NOTE: If the target object has any objects with iou > iou_threshold, it - // will be suppressed regardless of later results. - if (iou > params_.iou_threshold_) { - break; - } + const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); + triangular_matrix(target_i, source_i) = iou; + // NOTE: If the target object has any objects with iou > iou_threshold, it + // will be suppressed regardless of later results. + if (iou > params_.iou_threshold_) { + break; } } } @@ -95,10 +88,9 @@ std::vector NonMaximumSuppression::apply( output_objects.reserve(input_objects.size()); for (std::size_t i = 0; i < input_objects.size(); ++i) { const auto value = iou_matrix.row(i).maxCoeff(); - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - if (value <= params_.iou_threshold_) { - output_objects.emplace_back(input_objects.at(i)); - } + + if (value <= params_.iou_threshold_) { + output_objects.emplace_back(input_objects.at(i)); } } diff --git a/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp b/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp index 203a556d9057a..80ae1fae0eb1d 100644 --- a/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp @@ -18,6 +18,9 @@ #include +#include +#include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp index 88f6497f8d656..82f95697100cd 100644 --- a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp @@ -18,6 +18,9 @@ #include #include +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp index 42e017a2dfdda..4e100f2e794d5 100644 --- a/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp @@ -26,6 +26,7 @@ #include #include #include +#include #include namespace autoware::lidar_transfusion @@ -175,6 +176,13 @@ bool TransfusionTRT::preprocess( } if (params_input > config_.max_voxels_) { + rclcpp::Clock clock{RCL_ROS_TIME}; + RCLCPP_WARN_THROTTLE( + rclcpp::get_logger("lidar_transfusion"), clock, 1000, + "The actual number of voxels (%u) exceeds its maximum value (%zu). " + "Please considering increasing it since it may limit the detection performance.", + params_input, config_.max_voxels_); + params_input = config_.max_voxels_; } RCLCPP_DEBUG_STREAM( diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 0714447a6c5c7..d9c43bc5a1b20 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -2,7 +2,7 @@ autoware_lidar_transfusion - 0.38.0 + 0.40.0 The lidar_transfusion package Amadeusz Szymko Kenzo Lobos-Tsunekawa diff --git a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json index 6d9029f7e6806..739c641b7cefb 100644 --- a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json +++ b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json @@ -48,15 +48,6 @@ "default": 0.5, "minimum": 0.0 }, - "iou_nms_target_class_names": { - "type": "array", - "items": { - "type": "string" - }, - "description": "An array of class names to be target in NMS.", - "default": ["CAR"], - "uniqueItems": true - }, "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", @@ -95,7 +86,6 @@ "densification_num_past_frames", "densification_world_frame_id", "circle_nms_dist_threshold", - "iou_nms_target_class_names", "iou_nms_search_distance_2d", "iou_nms_threshold", "yaw_norm_thresholds", diff --git a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp index fae1cc97404da..8bb70a821621f 100644 --- a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp @@ -16,6 +16,11 @@ #include "autoware/lidar_transfusion/utils.hpp" +#include +#include +#include +#include + namespace autoware::lidar_transfusion { @@ -60,9 +65,6 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) static_cast(this->declare_parameter("circle_nms_dist_threshold", descriptor)); { // IoU NMS NMSParams p; - p.nms_type_ = NMS_TYPE::IoU_BEV; - p.target_class_names_ = - this->declare_parameter>("iou_nms_target_class_names", descriptor); p.search_distance_2d_ = this->declare_parameter("iou_nms_search_distance_2d", descriptor); p.iou_threshold_ = this->declare_parameter("iou_nms_threshold", descriptor); diff --git a/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp b/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp index a9b5c8e83fbf7..ed79d362ba73d 100644 --- a/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp +++ b/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(DetectionClassRemapperTest, MapClasses) { autoware::lidar_transfusion::DetectionClassRemapper remapper; diff --git a/perception/autoware_lidar_transfusion/test/test_nms.cpp b/perception/autoware_lidar_transfusion/test/test_nms.cpp index 654cb56078c57..dcb523abd96d8 100644 --- a/perception/autoware_lidar_transfusion/test/test_nms.cpp +++ b/perception/autoware_lidar_transfusion/test/test_nms.cpp @@ -16,14 +16,14 @@ #include +#include + TEST(NonMaximumSuppressionTest, Apply) { autoware::lidar_transfusion::NonMaximumSuppression nms; autoware::lidar_transfusion::NMSParams params; params.search_distance_2d_ = 1.0; params.iou_threshold_ = 0.2; - params.nms_type_ = autoware::lidar_transfusion::NMS_TYPE::IoU_BEV; - params.target_class_names_ = {"CAR"}; nms.setParameters(params); std::vector input_objects(4); diff --git a/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp index bc30ca04ebfe6..b09e85f0a9325 100644 --- a/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp +++ b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp index c4a1c37b4ff77..afc25024d122e 100644 --- a/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp +++ b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp @@ -23,6 +23,7 @@ #include #include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp b/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp index ac9c4ca0378cb..31468b28f962a 100644 --- a/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp @@ -16,6 +16,9 @@ #include +#include +#include + TEST(TestSuite, box3DToDetectedObject) { std::vector class_names = {"CAR", "TRUCK", "BUS", "TRAILER", diff --git a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp index df546dbde6d97..3eccc4eac1e83 100644 --- a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp @@ -22,6 +22,9 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index 27297417c6563..55bc24894c230 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -2,6 +2,81 @@ Changelog for package autoware_map_based_prediction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_map_based_prediction): msg namespace (`#9553 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(map_based_prediction): move member functions to utils (`#9225 `_) +* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) +* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(map_based_prediction): move member functions to utils (`#9225 `_) +* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) +* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Mamoru Sobue, Taekjin LEE, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index 161429d24ad2a..9012590a45b14 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -2,7 +2,7 @@ autoware_map_based_prediction - 0.38.0 + 0.40.0 This package implements a map_based_prediction Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index 4c4b7b30caecf..42dbf5b83fa8c 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -46,8 +46,13 @@ #include #include #include +#include #include #include +#include +#include +#include +#include namespace autoware::map_based_prediction { @@ -691,7 +696,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object) if ( object.kinematics.orientation_availability == - autoware_perception_msgs::msg::DetectedObjectKinematics::AVAILABLE) { + autoware_perception_msgs::msg::TrackedObjectKinematics::AVAILABLE) { return; } @@ -712,7 +717,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object) if (abs_object_speed < min_abs_speed) return; switch (object.kinematics.orientation_availability) { - case autoware_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN: { + case autoware_perception_msgs::msg::TrackedObjectKinematics::SIGN_UNKNOWN: { const auto original_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); // flip the angle diff --git a/perception/autoware_map_based_prediction/src/path_generator.cpp b/perception/autoware_map_based_prediction/src/path_generator.cpp index 57104082d0cf7..3bd6d62aba999 100644 --- a/perception/autoware_map_based_prediction/src/path_generator.cpp +++ b/perception/autoware_map_based_prediction/src/path_generator.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include +#include namespace autoware::map_based_prediction { diff --git a/perception/autoware_map_based_prediction/src/predictor_vru.cpp b/perception/autoware_map_based_prediction/src/predictor_vru.cpp index 31630f7645171..0eea665cbd8a2 100644 --- a/perception/autoware_map_based_prediction/src/predictor_vru.cpp +++ b/perception/autoware_map_based_prediction/src/predictor_vru.cpp @@ -19,6 +19,15 @@ #include #include +#include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::map_based_prediction { using autoware::universe_utils::ScopedTimeTrack; diff --git a/perception/autoware_map_based_prediction/src/utils.cpp b/perception/autoware_map_based_prediction/src/utils.cpp index 8c4a25a793bf7..cfc5036106daf 100644 --- a/perception/autoware_map_based_prediction/src/utils.cpp +++ b/perception/autoware_map_based_prediction/src/utils.cpp @@ -22,6 +22,15 @@ #include #include +#include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::map_based_prediction { namespace utils diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 593a9d70c4346..5fced913f2b9d 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -2,6 +2,69 @@ Changelog for package autoware_multi_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_multi_object_tracker): measure latency with latest detection update time (`#9533 `_) + * fix: measure latency with latest detection update time + * fix: remove duplicated current_time + --------- +* fix(cpplint): include what you use - perception (`#9569 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* fix(autoware_multi_object_tracker): fix clang-diagnostic-unused-private-field (`#9491 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_multi_object_tracker): new function to add odometry uncertainty (`#9139 `_) + * feat: add Odometry uncertainty to object tracking + * feat: Add odometry heading uncertainty to object pose covariance + feat: Rotate object pose covariance matrix to account for yaw uncertainty + Rotate the object pose covariance matrix in the uncertainty_processor.cpp file to account for the yaw uncertainty. This ensures that the covariance matrix accurately represents the position uncertainty of the object. + Refactor the code to rotate the covariance matrix using Eigen's Rotation2D class. The yaw uncertainty is added to the y-y element of the rotated covariance matrix. Finally, update the object_pose_cov array with the updated covariance values. + Closes `#123 `_ + * feat: Add odometry motion uncertainty to object pose covariance + refactoring + * feat: Update ego twist uncertainty to the object velocity uncertainty + * feat: update object twist covariance by odometry yaw rate uncertainty + * feat: move uncertainty modeling to input side + * feat: add option to select odometry uncertainty + * refactor: rename consider_odometry_uncertainty to enable_odometry_uncertainty + * fix: transform to world first, add odometry covariance later + style(pre-commit): autofix + * feat: Add odometry heading uncertainty to object pose covariance + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_multi_object_tracker/CMakeLists.txt b/perception/autoware_multi_object_tracker/CMakeLists.txt index 73edabaa09429..298b6605192a5 100644 --- a/perception/autoware_multi_object_tracker/CMakeLists.txt +++ b/perception/autoware_multi_object_tracker/CMakeLists.txt @@ -36,8 +36,7 @@ set(${PROJECT_NAME}_lib lib/tracker/motion_model/ctrv_motion_model.cpp lib/tracker/motion_model/cv_motion_model.cpp lib/tracker/model/tracker_base.cpp - lib/tracker/model/big_vehicle_tracker.cpp - lib/tracker/model/normal_vehicle_tracker.cpp + lib/tracker/model/vehicle_tracker.cpp lib/tracker/model/multiple_vehicle_tracker.cpp lib/tracker/model/bicycle_tracker.cpp lib/tracker/model/pedestrian_tracker.cpp diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp index 868aa1606d4ff..8b4fa1babf652 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp @@ -20,9 +20,8 @@ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ #include "autoware/kalman_filter/kalman_filter.hpp" -#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" -#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp" #include @@ -32,8 +31,8 @@ namespace autoware::multi_object_tracker class MultipleVehicleTracker : public Tracker { private: - NormalVehicleTracker normal_vehicle_tracker_; - BigVehicleTracker big_vehicle_tracker_; + VehicleTracker normal_vehicle_tracker_; + VehicleTracker big_vehicle_tracker_; public: MultipleVehicleTracker( diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp deleted file mode 100644 index 0bfc065c7cc68..0000000000000 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp +++ /dev/null @@ -1,78 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// -// Author: v1.0 Yukihiro Saito -// - -#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ -#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ - -#include "autoware/kalman_filter/kalman_filter.hpp" -#include "autoware/multi_object_tracker/object_model/object_model.hpp" -#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" -#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" - -namespace autoware::multi_object_tracker -{ - -class NormalVehicleTracker : public Tracker -{ -private: - autoware_perception_msgs::msg::DetectedObject object_; - rclcpp::Logger logger_; - - object_model::ObjectModel object_model_ = object_model::normal_vehicle; - - double velocity_deviation_threshold_; - - double z_; - - struct BoundingBox - { - double length; - double width; - double height; - }; - BoundingBox bounding_box_; - Eigen::Vector2d tracking_offset_; - - BicycleMotionModel motion_model_; - using IDX = BicycleMotionModel::IDX; - -public: - NormalVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, - const uint & channel_index); - - bool predict(const rclcpp::Time & time) override; - bool measure( - const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; - bool measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object); - bool measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object); - bool getTrackedObject( - const rclcpp::Time & time, - autoware_perception_msgs::msg::TrackedObject & object) const override; - -private: - autoware_perception_msgs::msg::DetectedObject getUpdatingObject( - const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); -}; - -} // namespace autoware::multi_object_tracker - -#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp similarity index 82% rename from perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp index 489f656f750cb..f3708fd1ff905 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp @@ -16,8 +16,8 @@ // Author: v1.0 Yukihiro Saito // -#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ -#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_ #include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/object_model/object_model.hpp" @@ -27,16 +27,15 @@ namespace autoware::multi_object_tracker { -class BigVehicleTracker : public Tracker +class VehicleTracker : public Tracker { private: - autoware_perception_msgs::msg::DetectedObject object_; + object_model::ObjectModel object_model_; rclcpp::Logger logger_; - object_model::ObjectModel object_model_ = object_model::big_vehicle; - double velocity_deviation_threshold_; + autoware_perception_msgs::msg::DetectedObject object_; double z_; struct BoundingBox @@ -52,8 +51,9 @@ class BigVehicleTracker : public Tracker using IDX = BicycleMotionModel::IDX; public: - BigVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, + VehicleTracker( + const object_model::ObjectModel & object_model, const rclcpp::Time & time, + const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, const uint & channel_index); @@ -75,4 +75,4 @@ class BigVehicleTracker : public Tracker } // namespace autoware::multi_object_tracker -#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_ diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp index ea1e60d4c7e17..ecf727c36936c 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp @@ -20,13 +20,12 @@ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ #include "model/bicycle_tracker.hpp" -#include "model/big_vehicle_tracker.hpp" #include "model/multiple_vehicle_tracker.hpp" -#include "model/normal_vehicle_tracker.hpp" #include "model/pass_through_tracker.hpp" #include "model/pedestrian_and_bicycle_tracker.hpp" #include "model/pedestrian_tracker.hpp" #include "model/tracker_base.hpp" #include "model/unknown_tracker.hpp" +#include "model/vehicle_tracker.hpp" #endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp deleted file mode 100644 index 349ffb1eec634..0000000000000 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp +++ /dev/null @@ -1,362 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// -// Author: v1.0 Yukihiro Saito -// -#define EIGEN_MPL2_ONLY - -#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" - -#include "autoware/multi_object_tracker/utils/utils.hpp" -#include "autoware/object_recognition_utils/object_recognition_utils.hpp" -#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "autoware/universe_utils/math/normalization.hpp" -#include "autoware/universe_utils/math/unit_conversion.hpp" -#include "autoware/universe_utils/ros/msg_covariance.hpp" - -#include -#include - -#include -#include -#include -#include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - -namespace autoware::multi_object_tracker -{ -using Label = autoware_perception_msgs::msg::ObjectClassification; - -BigVehicleTracker::BigVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, - const uint & channel_index) -: Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("BigVehicleTracker")), - z_(object.kinematics.pose_with_covariance.pose.position.z), - tracking_offset_(Eigen::Vector2d::Zero()) -{ - object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(channel_index, object.existence_probability); - - // velocity deviation threshold - // if the predicted velocity is close to the observed velocity, - // the observed velocity is used as the measurement. - velocity_deviation_threshold_ = autoware::universe_utils::kmph2mps(10); // [m/s] - - // OBJECT SHAPE MODEL - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - bounding_box_ = { - object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - } else { - autoware_perception_msgs::msg::DetectedObject bbox_object; - if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { - RCLCPP_WARN( - logger_, - "BigVehicleTracker::BigVehicleTracker: Failed to convert convex hull to bounding box."); - bounding_box_ = { - object_model_.init_size.length, object_model_.init_size.width, - object_model_.init_size.height}; // default value - } else { - bounding_box_ = { - bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, - bbox_object.shape.dimensions.z}; - } - } - // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); - - // Set motion model parameters - { - const double q_stddev_acc_long = object_model_.process_noise.acc_long; - const double q_stddev_acc_lat = object_model_.process_noise.acc_lat; - const double q_stddev_yaw_rate_min = object_model_.process_noise.yaw_rate_min; - const double q_stddev_yaw_rate_max = object_model_.process_noise.yaw_rate_max; - const double q_stddev_slip_rate_min = object_model_.bicycle_state.slip_rate_stddev_min; - const double q_stddev_slip_rate_max = object_model_.bicycle_state.slip_rate_stddev_max; - const double q_max_slip_angle = object_model_.bicycle_state.slip_angle_max; - const double lf_ratio = object_model_.bicycle_state.wheel_pos_ratio_front; - const double lf_min = object_model_.bicycle_state.wheel_pos_front_min; - const double lr_ratio = object_model_.bicycle_state.wheel_pos_ratio_rear; - const double lr_min = object_model_.bicycle_state.wheel_pos_rear_min; - motion_model_.setMotionParams( - q_stddev_acc_long, q_stddev_acc_lat, q_stddev_yaw_rate_min, q_stddev_yaw_rate_max, - q_stddev_slip_rate_min, q_stddev_slip_rate_max, q_max_slip_angle, lf_ratio, lf_min, lr_ratio, - lr_min); - } - - // Set motion limits - { - const double max_vel = object_model_.process_limit.vel_long_max; - const double max_slip = object_model_.bicycle_state.slip_angle_max; - motion_model_.setMotionLimits(max_vel, max_slip); // maximum velocity and slip angle - } - - // Set initial state - { - using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - - auto pose_cov = object.kinematics.pose_with_covariance.covariance; - if (!object.kinematics.has_position_covariance) { - // initial state covariance - const auto & p0_cov_x = object_model_.initial_covariance.pos_x; - const auto & p0_cov_y = object_model_.initial_covariance.pos_y; - const auto & p0_cov_yaw = object_model_.initial_covariance.yaw; - - const double cos_yaw = std::cos(yaw); - const double sin_yaw = std::sin(yaw); - const double sin_2yaw = std::sin(2.0 * yaw); - pose_cov[XYZRPY_COV_IDX::X_X] = p0_cov_x * cos_yaw * cos_yaw + p0_cov_y * sin_yaw * sin_yaw; - pose_cov[XYZRPY_COV_IDX::X_Y] = 0.5 * (p0_cov_x - p0_cov_y) * sin_2yaw; - pose_cov[XYZRPY_COV_IDX::Y_Y] = p0_cov_x * sin_yaw * sin_yaw + p0_cov_y * cos_yaw * cos_yaw; - pose_cov[XYZRPY_COV_IDX::Y_X] = pose_cov[XYZRPY_COV_IDX::X_Y]; - pose_cov[XYZRPY_COV_IDX::YAW_YAW] = p0_cov_yaw; - } - - double vel = 0.0; - double vel_cov = object_model_.initial_covariance.vel_long; - if (object.kinematics.has_twist) { - vel = object.kinematics.twist_with_covariance.twist.linear.x; - } - if (object.kinematics.has_twist_covariance) { - vel_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X]; - } - - const double slip = 0.0; - const double slip_cov = object_model_.bicycle_state.init_slip_angle_cov; - const double & length = bounding_box_.length; - - // initialize motion model - motion_model_.initialize(time, x, y, yaw, pose_cov, vel, vel_cov, slip, slip_cov, length); - } -} - -bool BigVehicleTracker::predict(const rclcpp::Time & time) -{ - return motion_model_.predictState(time); -} - -autoware_perception_msgs::msg::DetectedObject BigVehicleTracker::getUpdatingObject( - const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform) -{ - autoware_perception_msgs::msg::DetectedObject updating_object = object; - - // OBJECT SHAPE MODEL - // convert to bounding box if input is convex shape - autoware_perception_msgs::msg::DetectedObject bbox_object = object; - if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { - RCLCPP_WARN( - logger_, - "BigVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); - bbox_object = object; - } - } - - // current (predicted) state - const double tracked_x = motion_model_.getStateElement(IDX::X); - const double tracked_y = motion_model_.getStateElement(IDX::Y); - const double tracked_yaw = motion_model_.getStateElement(IDX::YAW); - - // get offset measurement - const int nearest_corner_index = utils::getNearestCornerOrSurface( - tracked_x, tracked_y, tracked_yaw, bounding_box_.width, bounding_box_.length, self_transform); - utils::calcAnchorPointOffset( - bounding_box_.width, bounding_box_.length, nearest_corner_index, bbox_object, tracked_yaw, - updating_object, tracking_offset_); - - return updating_object; -} - -bool BigVehicleTracker::measureWithPose( - const autoware_perception_msgs::msg::DetectedObject & object) -{ - // current (predicted) state - const double tracked_vel = motion_model_.getStateElement(IDX::VEL); - - // velocity capability is checked only when the object has velocity measurement - // and the predicted velocity is close to the observed velocity - bool is_velocity_available = false; - if (object.kinematics.has_twist) { - const double & observed_vel = object.kinematics.twist_with_covariance.twist.linear.x; - if (std::fabs(tracked_vel - observed_vel) < velocity_deviation_threshold_) { - // Velocity deviation is small - is_velocity_available = true; - } - } - - // update - bool is_updated = false; - { - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double vel = object.kinematics.twist_with_covariance.twist.linear.x; - - if (is_velocity_available) { - is_updated = motion_model_.updateStatePoseHeadVel( - x, y, yaw, object.kinematics.pose_with_covariance.covariance, vel, - object.kinematics.twist_with_covariance.covariance); - } else { - is_updated = motion_model_.updateStatePoseHead( - x, y, yaw, object.kinematics.pose_with_covariance.covariance); - } - motion_model_.limitStates(); - } - - // position z - constexpr double gain = 0.1; - z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z; - - return is_updated; -} - -bool BigVehicleTracker::measureWithShape( - const autoware_perception_msgs::msg::DetectedObject & object) -{ - if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - // do not update shape if the input is not a bounding box - return false; - } - - // check object size abnormality - constexpr double size_max = 35.0; // [m] - constexpr double size_min = 1.0; // [m] - bool is_size_valid = - (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max && - object.shape.dimensions.x >= size_min && object.shape.dimensions.y >= size_min); - if (!is_size_valid) { - return false; - } - - // update object size - constexpr double gain = 0.5; - constexpr double gain_inv = 1.0 - gain; - bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; - bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; - bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; - - // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); - - // update motion model - motion_model_.updateExtendedState(bounding_box_.length); - - // update offset into object position - { - // rotate back the offset vector from object coordinate to global coordinate - const double yaw = motion_model_.getStateElement(IDX::YAW); - const double offset_x_global = - tracking_offset_.x() * std::cos(yaw) - tracking_offset_.y() * std::sin(yaw); - const double offset_y_global = - tracking_offset_.x() * std::sin(yaw) + tracking_offset_.y() * std::cos(yaw); - motion_model_.adjustPosition(-gain * offset_x_global, -gain * offset_y_global); - // update offset (object coordinate) - tracking_offset_.x() = gain_inv * tracking_offset_.x(); - tracking_offset_.y() = gain_inv * tracking_offset_.y(); - } - - return true; -} - -bool BigVehicleTracker::measure( - const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) -{ - // keep the latest input object - object_ = object; - - // update classification - const auto & current_classification = getClassification(); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) == - Label::UNKNOWN) { - setClassification(current_classification); - } - - // check time gap - const double dt = motion_model_.getDeltaTime(time); - if (0.01 /*10msec*/ < dt) { - RCLCPP_WARN( - logger_, - "BigVehicleTracker::measure There is a large gap between predicted time and measurement " - "time. (%f)", - dt); - } - - // update object - const autoware_perception_msgs::msg::DetectedObject updating_object = - getUpdatingObject(object, self_transform); - measureWithPose(updating_object); - measureWithShape(updating_object); - - return true; -} - -bool BigVehicleTracker::getTrackedObject( - const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const -{ - object = autoware::object_recognition_utils::toTrackedObject(object_); - object.object_id = getUUID(); - object.classification = getClassification(); - - auto & pose_with_cov = object.kinematics.pose_with_covariance; - auto & twist_with_cov = object.kinematics.twist_with_covariance; - - // predict from motion model - if (!motion_model_.getPredictedState( - time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, - twist_with_cov.covariance)) { - RCLCPP_WARN(logger_, "BigVehicleTracker::getTrackedObject: Failed to get predicted state."); - return false; - } - - // position - pose_with_cov.pose.position.z = z_; - - // set shape - object.shape.dimensions.x = bounding_box_.length; - object.shape.dimensions.y = bounding_box_.width; - object.shape.dimensions.z = bounding_box_.height; - const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation); - const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation); - object.shape.footprint = - autoware::universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw); - - return true; -} - -} // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp index 4751e3d1c894f..ff06544bd509c 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp @@ -18,6 +18,8 @@ #include "autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/object_model/object_model.hpp" + namespace autoware::multi_object_tracker { @@ -28,8 +30,10 @@ MultipleVehicleTracker::MultipleVehicleTracker( const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, const uint & channel_index) : Tracker(time, object.classification, channel_size), - normal_vehicle_tracker_(time, object, self_transform, channel_size, channel_index), - big_vehicle_tracker_(time, object, self_transform, channel_size, channel_index) + normal_vehicle_tracker_( + object_model::normal_vehicle, time, object, self_transform, channel_size, channel_index), + big_vehicle_tracker_( + object_model::big_vehicle, time, object, self_transform, channel_size, channel_index) { // initialize existence probability initializeExistenceProbabilities(channel_index, object.existence_probability); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp index daa8db5db91e6..24e2b0c9f5acf 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace { diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp similarity index 92% rename from perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp index b4be5e42b0397..2d1f48a3ad5ee 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp @@ -17,7 +17,7 @@ // #define EIGEN_MPL2_ONLY -#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/object_recognition_utils/object_recognition_utils.hpp" @@ -45,12 +45,14 @@ namespace autoware::multi_object_tracker using Label = autoware_perception_msgs::msg::ObjectClassification; -NormalVehicleTracker::NormalVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, +VehicleTracker::VehicleTracker( + const object_model::ObjectModel & object_model, const rclcpp::Time & time, + const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, const uint & channel_index) : Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("NormalVehicleTracker")), + object_model_(object_model), + logger_(rclcpp::get_logger("VehicleTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z), tracking_offset_(Eigen::Vector2d::Zero()) { @@ -73,7 +75,7 @@ NormalVehicleTracker::NormalVehicleTracker( if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { RCLCPP_WARN( logger_, - "NormalVehicleTracker::NormalVehicleTracker: Failed to convert convex hull to bounding " + "VehicleTracker::VehicleTracker: Failed to convert convex hull to bounding " "box."); bounding_box_ = { object_model_.init_size.length, object_model_.init_size.width, @@ -160,12 +162,12 @@ NormalVehicleTracker::NormalVehicleTracker( } } -bool NormalVehicleTracker::predict(const rclcpp::Time & time) +bool VehicleTracker::predict(const rclcpp::Time & time) { return motion_model_.predictState(time); } -autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingObject( +autoware_perception_msgs::msg::DetectedObject VehicleTracker::getUpdatingObject( const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & self_transform) { @@ -178,7 +180,7 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { RCLCPP_WARN( logger_, - "NormalVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); + "VehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); bbox_object = object; } } @@ -198,8 +200,7 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO return updating_object; } -bool NormalVehicleTracker::measureWithPose( - const autoware_perception_msgs::msg::DetectedObject & object) +bool VehicleTracker::measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object) { // current (predicted) state const double tracked_vel = motion_model_.getStateElement(IDX::VEL); @@ -241,8 +242,7 @@ bool NormalVehicleTracker::measureWithPose( return is_updated; } -bool NormalVehicleTracker::measureWithShape( - const autoware_perception_msgs::msg::DetectedObject & object) +bool VehicleTracker::measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object) { if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { // do not update shape if the input is not a bounding box @@ -294,7 +294,7 @@ bool NormalVehicleTracker::measureWithShape( return true; } -bool NormalVehicleTracker::measure( +bool VehicleTracker::measure( const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, const geometry_msgs::msg::Transform & self_transform) { @@ -314,7 +314,7 @@ bool NormalVehicleTracker::measure( if (0.01 /*10msec*/ < dt) { RCLCPP_WARN( logger_, - "NormalVehicleTracker::measure There is a large gap between predicted time and measurement " + "VehicleTracker::measure There is a large gap between predicted time and measurement " "time. (%f)", dt); } @@ -328,7 +328,7 @@ bool NormalVehicleTracker::measure( return true; } -bool NormalVehicleTracker::getTrackedObject( +bool VehicleTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { object = autoware::object_recognition_utils::toTrackedObject(object_); @@ -342,7 +342,7 @@ bool NormalVehicleTracker::getTrackedObject( if (!motion_model_.getPredictedState( time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, twist_with_cov.covariance)) { - RCLCPP_WARN(logger_, "NormalVehicleTracker::getTrackedObject: Failed to get predicted state."); + RCLCPP_WARN(logger_, "VehicleTracker::getTrackedObject: Failed to get predicted state."); return false; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp index 399634b63bffe..89258835f920b 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp @@ -28,6 +28,8 @@ #include #include +#include + namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp index 6f63ecbdce06d..700800e94ecd5 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp @@ -276,7 +276,7 @@ bool CTRVMotionModel::predictStateStep(const double dt, KalmanFilter & ekf) cons Eigen::MatrixXd X_next_t(DIM, 1); // predicted state X_next_t(IDX::X) = X_t(IDX::X) + X_t(IDX::VEL) * cos_yaw * dt; // dx = v * cos(yaw) X_next_t(IDX::Y) = X_t(IDX::Y) + X_t(IDX::VEL) * sin_yaw * dt; // dy = v * sin(yaw) - X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ)) * dt; // dyaw = omega + X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ))*dt; // dyaw = omega X_next_t(IDX::VEL) = X_t(IDX::VEL); X_next_t(IDX::WZ) = X_t(IDX::WZ); diff --git a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp index 3f0b854931842..ddfdc7ef7cb10 100644 --- a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp +++ b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp @@ -20,6 +20,8 @@ #include #include +#include + namespace autoware::multi_object_tracker { namespace uncertainty diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index 5eb591d60133f..912165d7b6ab6 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_multi_object_tracker - 0.38.0 + 0.40.0 The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp index 59f50bd2e9f0b..bc27525d85f55 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp @@ -20,8 +20,11 @@ #include #include +#include #include #include +#include +#include namespace { diff --git a/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp index 3e47bbe9bed8d..9d830bb9e5b81 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp @@ -14,7 +14,10 @@ #include "debugger.hpp" +#include #include +#include +#include namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index 68a356cd91da5..a8e27ed4f0146 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -31,6 +31,7 @@ #include #include +#include #include #include #include @@ -213,7 +214,17 @@ void MultiObjectTracker::onTrigger() ObjectsList objects_list; const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list); if (!is_objects_ready) return; - onMessage(objects_list); + + // process start + last_updated_time_ = current_time; + const rclcpp::Time latest_time(objects_list.back().second.header.stamp); + debugger_->startMeasurementTime(this->now(), latest_time); + // run process for each DetectedObjects + for (const auto & objects_data : objects_list) { + runProcess(objects_data.second, objects_data.first); + } + // process end + debugger_->endMeasurementTime(this->now()); // Publish without delay compensation if (!publish_timer_) { @@ -245,22 +256,6 @@ void MultiObjectTracker::onTimer() if (should_publish) checkAndPublish(current_time); } -void MultiObjectTracker::onMessage(const ObjectsList & objects_list) -{ - const rclcpp::Time current_time = this->now(); - const rclcpp::Time oldest_time(objects_list.front().second.header.stamp); - last_updated_time_ = current_time; - - // process start - debugger_->startMeasurementTime(this->now(), oldest_time); - // run process for each DetectedObjects - for (const auto & objects_data : objects_list) { - runProcess(objects_data.second, objects_data.first); - } - // process end - debugger_->endMeasurementTime(this->now()); -} - void MultiObjectTracker::runProcess( const DetectedObjects & input_objects, const uint & channel_index) { diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp index b9886ee3fc847..79a8c1b98dcca 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp @@ -98,7 +98,6 @@ class MultiObjectTracker : public rclcpp::Node // callback functions void onTimer(); void onTrigger(); - void onMessage(const ObjectsList & objects_list); // publish processes void runProcess(const DetectedObjects & input_objects, const uint & channel_index); diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index c9ee8dae9562a..fa333ea06a4b9 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -17,6 +17,8 @@ #include #include +#include +#include namespace autoware::multi_object_tracker { @@ -144,22 +146,22 @@ void InputStream::updateTimingStatus(const rclcpp::Time & now, const rclcpp::Tim } void InputStream::getObjectsOlderThan( - const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, + const rclcpp::Time & object_latest_time, const rclcpp::Time & object_earliest_time, ObjectsList & objects_list) { - if (object_latest_time < object_oldest_time) { + if (object_latest_time < object_earliest_time) { RCLCPP_WARN( node_.get_logger(), "InputManager::getObjectsOlderThan %s: Invalid object time interval, object_latest_time: %f, " - "object_oldest_time: %f", - long_name_.c_str(), object_latest_time.seconds(), object_oldest_time.seconds()); + "object_earliest_time: %f", + long_name_.c_str(), object_latest_time.seconds(), object_earliest_time.seconds()); return; } for (const auto & objects : objects_que_) { const rclcpp::Time object_time = rclcpp::Time(objects.header.stamp); // ignore objects older than the specified duration - if (object_time < object_oldest_time) { + if (object_time < object_earliest_time) { continue; } @@ -238,7 +240,7 @@ void InputManager::onTrigger(const uint & index) const void InputManager::getObjectTimeInterval( const rclcpp::Time & now, rclcpp::Time & object_latest_time, - rclcpp::Time & object_oldest_time) const + rclcpp::Time & object_earliest_time) const { // Set the object time interval @@ -257,19 +259,19 @@ void InputManager::getObjectTimeInterval( object_latest_time < latest_measurement_time ? latest_measurement_time : object_latest_time; } - // 2. object_oldest_time - // The default object_oldest_time is to have a 1-second time interval - const rclcpp::Time object_oldest_time_default = + // 2. object_earliest_time + // The default object_earliest_time is to have a 1-second time interval + const rclcpp::Time object_earliest_time_default = object_latest_time - rclcpp::Duration::from_seconds(1.0); - if (latest_exported_object_time_ < object_oldest_time_default) { + if (latest_exported_object_time_ < object_earliest_time_default) { // if the latest exported object time is too old, set to the default - object_oldest_time = object_oldest_time_default; + object_earliest_time = object_earliest_time_default; } else if (latest_exported_object_time_ > object_latest_time) { // if the latest exported object time is newer than the object_latest_time, set to the default - object_oldest_time = object_oldest_time_default; + object_earliest_time = object_earliest_time_default; } else { - // The object_oldest_time is the latest exported object time - object_oldest_time = latest_exported_object_time_; + // The object_earliest_time is the latest exported object time + object_earliest_time = latest_exported_object_time_; } } @@ -320,8 +322,8 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li // Get the time interval for the objects rclcpp::Time object_latest_time; - rclcpp::Time object_oldest_time; - getObjectTimeInterval(now, object_latest_time, object_oldest_time); + rclcpp::Time object_earliest_time; + getObjectTimeInterval(now, object_latest_time, object_earliest_time); // Optimize the target stream, latency, and its band // The result will be used for the next time, so the optimization is after getting the time @@ -331,7 +333,7 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li // Get objects from all input streams // adds up to the objects vector for efficient processing for (const auto & input_stream : input_streams_) { - input_stream->getObjectsOlderThan(object_latest_time, object_oldest_time, objects_list); + input_stream->getObjectsOlderThan(object_latest_time, object_earliest_time, objects_list); } // Sort objects by timestamp @@ -363,7 +365,7 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li RCLCPP_DEBUG( node_.get_logger(), "InputManager::getObjects No objects in the object list, object time band from %f to %f", - (now - object_oldest_time).seconds(), (now - object_latest_time).seconds()); + (now - object_earliest_time).seconds(), (now - object_latest_time).seconds()); } } diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp index 25ee6b5eb0d5a..01b3148251743 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp @@ -57,7 +57,7 @@ class InputStream bool isTimeInitialized() const { return initial_count_ > 0; } uint getIndex() const { return index_; } void getObjectsOlderThan( - const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, + const rclcpp::Time & object_latest_time, const rclcpp::Time & object_earliest_time, ObjectsList & objects_list); bool isSpawnEnabled() const { return is_spawn_enabled_; } @@ -133,7 +133,7 @@ class InputManager private: void getObjectTimeInterval( const rclcpp::Time & now, rclcpp::Time & object_latest_time, - rclcpp::Time & object_oldest_time) const; + rclcpp::Time & object_earliest_time) const; void optimizeTimings(); }; diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp index ba9b3d17fd20f..ebc11ea63e199 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.cpp @@ -14,12 +14,17 @@ #include "processor.hpp" +#include "autoware/multi_object_tracker/object_model/object_model.hpp" #include "autoware/multi_object_tracker/tracker/tracker.hpp" #include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware_perception_msgs/msg/tracked_objects.hpp" #include +#include +#include +#include +#include namespace autoware::multi_object_tracker { @@ -98,14 +103,14 @@ std::shared_ptr TrackerProcessor::createNewTracker( return std::make_shared( time, object, self_transform, channel_size_, channel_index); if (tracker == "big_vehicle_tracker") - return std::make_shared( - time, object, self_transform, channel_size_, channel_index); + return std::make_shared( + object_model::big_vehicle, time, object, self_transform, channel_size_, channel_index); if (tracker == "multi_vehicle_tracker") return std::make_shared( time, object, self_transform, channel_size_, channel_index); if (tracker == "normal_vehicle_tracker") - return std::make_shared( - time, object, self_transform, channel_size_, channel_index); + return std::make_shared( + object_model::normal_vehicle, time, object, self_transform, channel_size_, channel_index); if (tracker == "pass_through_tracker") return std::make_shared( time, object, self_transform, channel_size_, channel_index); diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index e4af14846d835..004d56c406ce9 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index 75af6239450c7..481bb0babf20d 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_object_merger - 0.38.0 + 0.40.0 The autoware_object_merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_merger/src/object_association_merger_node.cpp b/perception/autoware_object_merger/src/object_association_merger_node.cpp index af9d0e15f4894..0e2b88f4aa566 100644 --- a/perception/autoware_object_merger/src/object_association_merger_node.cpp +++ b/perception/autoware_object_merger/src/object_association_merger_node.cpp @@ -25,8 +25,12 @@ #include #include +#include +#include +#include #include #include +#include using Label = autoware_perception_msgs::msg::ObjectClassification; diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index 6552fd133981c..2ad998b66391f 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_object_range_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml index d220d221bf8f4..bfc8470834443 100644 --- a/perception/autoware_object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_range_splitter - 0.38.0 + 0.40.0 The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index 66513afe678ca..ec69fb1754d3b 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_object_velocity_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml index 936bb40804882..681b29b0c49e8 100644 --- a/perception/autoware_object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_velocity_splitter - 0.38.0 + 0.40.0 autoware_object_velocity_splitter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index 8994678344025..cf7dc5752c62d 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (`#9217 `_) + * fix: bugprone-incorrect-roundings + * fix: clang-format + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml index 1a5dc84c97e50..fba074fdc669f 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -2,7 +2,7 @@ autoware_occupancy_grid_map_outlier_filter - 0.38.0 + 0.40.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index 2906f0f1f76a3..75d579b612168 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_probabilistic_occupancy_grid_map ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index 60f6cefcc6219..ece7ef0dec663 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -2,7 +2,7 @@ autoware_probabilistic_occupancy_grid_map - 0.38.0 + 0.40.0 generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index be3d4cb398b51..ff859a4d44ce3 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_radar_crossing_objects_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* docs: update the list styles (`#9555 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_crossing_objects_noise_filter/README.md b/perception/autoware_radar_crossing_objects_noise_filter/README.md index 553d932717442..4039624217a5c 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/README.md +++ b/perception/autoware_radar_crossing_objects_noise_filter/README.md @@ -10,7 +10,7 @@ This package can filter the noise objects which cross to the ego vehicle. This package aim to filter the noise objects which cross from the ego vehicle. The reason why these objects are noise is as below. -- 1. The objects with doppler velocity can be trusted more than those with vertical velocity to it. +#### 1. The objects with doppler velocity can be trusted more than those with vertical velocity to it Radars can get velocity information of objects as doppler velocity, but cannot get vertical velocity to doppler velocity directory. Some radars can output the objects with not only doppler velocity but also vertical velocity by estimation. @@ -22,7 +22,7 @@ Velocity estimation fails on static objects, resulting in ghost objects crossing ![vertical_velocity_objects](docs/vertical_velocity_objects.png) -- 2. Turning around by ego vehicle affect the output from radar. +#### 2. Turning around by ego vehicle affect the output from radar When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) compensates by the ego vehicle twist. So if an object detected by radars has circular motion viewing from base_link, it is likely that the speed is estimated incorrectly and that the object is a static object. diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml index f0bcfc6d30eee..f5900066cb10b 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_crossing_objects_noise_filter - 0.38.0 + 0.40.0 autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp b/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp index 93475af7b3628..9a0477befd5be 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp +++ b/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp @@ -20,6 +20,8 @@ #include +#include + std::shared_ptr get_node(double angle_threshold, double velocity_threshold) { diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index e1c5497782ae0..f6f48dfe36231 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_radar_fusion_to_detected_object ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml index 07de2ac9532e9..20d6331dc8a37 100644 --- a/perception/autoware_radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -2,7 +2,7 @@ autoware_radar_fusion_to_detected_object - 0.38.0 + 0.40.0 autoware_radar_fusion_to_detected_object Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index e2a9c19b6f086..b1609dd939090 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_radar_object_clustering ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* docs: update the list styles (`#9555 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md index 0e66208d9f84e..cf52c33eba274 100644 --- a/perception/autoware_radar_object_clustering/README.md +++ b/perception/autoware_radar_object_clustering/README.md @@ -17,12 +17,12 @@ Therefore, by this package the multiple detection results are clustered into one ### Algorithm -- 1. Sort by distance from `base_link` +#### 1. Sort by distance from `base_link` At first, to prevent changing the result from depending on the order of objects in DetectedObjects, input objects are sorted by distance from `base_link`. In addition, to apply matching in closeness order considering occlusion, objects are sorted in order of short distance in advance. -- 2. Clustering +#### 2. Clustering If two radar objects are near, and yaw angle direction and velocity between two radar objects is similar (the degree of these is defined by parameters), then these are clustered. Note that radar characteristic affect parameters for this matching. @@ -32,13 +32,13 @@ For example, if resolution of range distance or angle is low and accuracy of vel After grouping for all radar objects, if multiple radar objects are grouping, the kinematics of the new clustered object is calculated from average of that and label and shape of the new clustered object is calculated from top confidence in radar objects. -- 3. Fixed label correction +#### 3. Fixed label correction When the label information from radar outputs lack accuracy, `is_fixed_label` parameter is recommended to set `true`. If the parameter is true, the label of a clustered object is overwritten by the label set by `fixed_label` parameter. If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to `VEHICLE`. -- 4. Fixed size correction +#### 4. Fixed size correction When the size information from radar outputs lack accuracy, `is_fixed_size` parameter is recommended to set `true`. If the parameter is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters. diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index fc103a531ee1d..c8b5278c60292 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_clustering - 0.38.0 + 0.40.0 autoware_radar_object_clustering Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index f2490cc59c4fc..028737b0d4482 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_radar_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 3badf1ea766f1..4868e93ba9e72 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_tracker - 0.38.0 + 0.40.0 Do tracking radar object Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_radar_object_tracker/src/association/data_association.cpp b/perception/autoware_radar_object_tracker/src/association/data_association.cpp index 673ae084fb242..79c91a96c4cc8 100644 --- a/perception/autoware_radar_object_tracker/src/association/data_association.cpp +++ b/perception/autoware_radar_object_tracker/src/association/data_association.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp index 47b9430616fc9..04b2bd24d4b8d 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp @@ -30,6 +30,9 @@ #include #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp index 6facac3707c56..80b965ddb3840 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp @@ -30,6 +30,9 @@ #include #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp index ce63d96dfb83a..69a020a774372 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::radar_object_tracker { diff --git a/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp index f0a6a5dfd384d..cfbffdc089c11 100644 --- a/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp +++ b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp @@ -14,6 +14,10 @@ #include "autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp" +#include +#include +#include + namespace autoware::radar_object_tracker::utils { diff --git a/perception/autoware_radar_object_tracker/src/utils/utils.cpp b/perception/autoware_radar_object_tracker/src/utils/utils.cpp index 351c4cfd21159..9ea4f0a36a9ac 100644 --- a/perception/autoware_radar_object_tracker/src/utils/utils.cpp +++ b/perception/autoware_radar_object_tracker/src/utils/utils.cpp @@ -14,6 +14,8 @@ #include "autoware_radar_object_tracker/utils/utils.hpp" +#include + namespace autoware::radar_object_tracker::utils { // concatenate matrices vertically diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index 38e0a25549f76..9b60a1b24ec7a 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_radar_tracks_msgs_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml index 9efcd7a5e1c02..5b2e1c7d6a039 100644 --- a/perception/autoware_radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_msgs_converter - 0.38.0 + 0.40.0 autoware_radar_tracks_msgs_converter Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index 1ed0d176125ab..d61173ea1cfea 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_raindrop_cluster_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_raindrop_cluster_filter): fix clang-diagnostic-unused-private-field (`#9496 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml index 859cad6e72886..af3a2b1e9179f 100644 --- a/perception/autoware_raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -2,7 +2,7 @@ autoware_raindrop_cluster_filter - 0.38.0 + 0.40.0 The ROS 2 filter cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp index 62b6b9f3b09b5..e52fc57a5a20c 100644 --- a/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp +++ b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp @@ -22,6 +22,8 @@ #include +#include + namespace autoware::low_intensity_cluster_filter { LowIntensityClusterFilter::LowIntensityClusterFilter(const rclcpp::NodeOptions & node_options) diff --git a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp index e7644ce45e443..c53ca66db6720 100644 --- a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp +++ b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp @@ -24,6 +24,9 @@ #include +#include +#include +#include #include using autoware::low_intensity_cluster_filter::LowIntensityClusterFilter; diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 276854066ef08..85af9f1cf54ac 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_shape_estimation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp index 072d3b661b8b3..b4b1f18832da7 100644 --- a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp @@ -18,8 +18,13 @@ #include +#include #include +#include +#include #include +#include +#include namespace autoware::shape_estimation { @@ -140,7 +145,7 @@ void TrtShapeEstimator::preprocess(const DetectedObjectsWithFeature & input) } int iter_count = static_cast(input_pc_size) / point_size_of_cloud; - int remainer_count = static_cast(input_pc_size) % point_size_of_cloud; + int remaining_points_count = static_cast(input_pc_size) % point_size_of_cloud; for (int j = 1; j < iter_count; j++) { for (int k = 0; k < point_size_of_cloud; k++) { @@ -155,7 +160,7 @@ void TrtShapeEstimator::preprocess(const DetectedObjectsWithFeature & input) } } - for (int j = 0; j < remainer_count; j++) { + for (int j = 0; j < remaining_points_count; j++) { input_pc_h_[i * input_chan * input_pc_size + 0 + iter_count * point_size_of_cloud + j] = input_pc_h_[i * input_chan * input_pc_size + j]; diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index f2a1e0e48b5a7..cfc1d7e829a8a 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -2,7 +2,7 @@ autoware_shape_estimation - 0.38.0 + 0.40.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp b/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp index df04ade05b1ce..a7554f8249785 100644 --- a/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp +++ b/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp @@ -22,6 +22,9 @@ #include +#include +#include + namespace { using autoware::shape_estimation::ShapeEstimationNode; diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index f9b905a340f12..d45c6a726433d 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_simple_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml index 594ba9959de29..db20c03a95640 100644 --- a/perception/autoware_simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,7 +1,7 @@ autoware_simple_object_merger - 0.38.0 + 0.40.0 autoware_simple_object_merger Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index ac517eba9c465..88311b8ed9515 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_tensorrt_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_classifier): fix clang errors (`#9508 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp index 0977621894920..59833a348ba91 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp @@ -47,7 +47,9 @@ #include #include +#include #include +#include #include #include #include @@ -270,19 +272,19 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator output.write(reinterpret_cast(cache), length); } - double getQuantile() const noexcept + double getQuantile() const noexcept override { printf("Quantile %f\n", m_quantile); return m_quantile; } - double getRegressionCutoff(void) const noexcept + double getRegressionCutoff(void) const noexcept override { printf("Cutoff %f\n", m_cutoff); return m_cutoff; } - const void * readHistogramCache(std::size_t & length) noexcept + const void * readHistogramCache(std::size_t & length) noexcept override { hist_cache_.clear(); std::ifstream input(histogram_cache_file_, std::ios::binary); @@ -301,7 +303,7 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator } return length ? &hist_cache_[0] : nullptr; } - void writeHistogramCache(void const * ptr, std::size_t length) noexcept + void writeHistogramCache(void const * ptr, std::size_t length) noexcept override { std::ofstream output(histogram_cache_file_, std::ios::binary); output.write(reinterpret_cast(ptr), length); diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp index 345e663441557..ee16343b956d1 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp @@ -107,7 +107,6 @@ class TrtClassifier std::vector input_h_; CudaUniquePtr input_d_; - bool needs_output_decode_; size_t out_elem_num_; size_t out_elem_num_per_batch_; CudaUniquePtr out_prob_d_; diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index c628ba754eeaa..489f5f2596e25 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_classifier - 0.38.0 + 0.40.0 tensorrt classifier wrapper Dan Umeda diff --git a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp index 4ca70c2f75618..b24e4fe56e8b8 100644 --- a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp +++ b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp @@ -20,10 +20,12 @@ #include #include +#include #include #include #include #include +#include #include static void trimLeft(std::string & s) diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index 9510da691fba7..ab3b7187c0169 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_tensorrt_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_common): fix clang-diagnostic-unused-private-field (`#9493 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp index cf5ebdc525a89..5aa897983af72 100644 --- a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp @@ -21,6 +21,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp index 76a9fd8bab7a8..2b3b3f02f315f 100644 --- a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp @@ -17,6 +17,8 @@ #ifndef YOLOX_STANDALONE #include + +#include #endif #include diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index f2a03a4787cc8..300a7b263c063 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_common - 0.38.0 + 0.40.0 tensorrt utility wrapper Taichi Higashide diff --git a/perception/autoware_tensorrt_common/src/simple_profiler.cpp b/perception/autoware_tensorrt_common/src/simple_profiler.cpp index c538470711fb8..2bcc1c4f9da06 100644 --- a/perception/autoware_tensorrt_common/src/simple_profiler.cpp +++ b/perception/autoware_tensorrt_common/src/simple_profiler.cpp @@ -14,7 +14,10 @@ #include +#include #include +#include +#include namespace autoware { diff --git a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp index 632501c0dc057..897010d22bb4b 100644 --- a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp +++ b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp @@ -23,6 +23,7 @@ #include #include #include +#include namespace { diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index e9cec23494914..969f1df4b5496 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_tensorrt_yolox ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_yolox): fix clang-diagnostic-inconsistent-missing-override (`#9512 `_) + fix: clang-diagnostic-inconsistent-missing-override +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp index 3a2bac315a3d0..24698c1d90f72 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp @@ -48,7 +48,9 @@ #include #include +#include #include +#include #include #include #include @@ -248,19 +250,19 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator output.write(reinterpret_cast(cache), length); } - double getQuantile() const noexcept + double getQuantile() const noexcept override { printf("Quantile %f\n", quantile_); return quantile_; } - double getRegressionCutoff(void) const noexcept + double getRegressionCutoff(void) const noexcept override { printf("Cutoff %f\n", cutoff_); return cutoff_; } - const void * readHistogramCache(std::size_t & length) noexcept + const void * readHistogramCache(std::size_t & length) noexcept override { hist_cache_.clear(); std::ifstream input(histogram_cache_file_, std::ios::binary); @@ -279,7 +281,7 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator } return length ? &hist_cache_[0] : nullptr; } - void writeHistogramCache(void const * ptr, std::size_t length) noexcept + void writeHistogramCache(void const * ptr, std::size_t length) noexcept override { std::ofstream output(histogram_cache_file_, std::ios::binary); output.write(reinterpret_cast(ptr), length); diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 294e13eb46d88..e04d839282fd8 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_yolox - 0.38.0 + 0.40.0 tensorrt library implementation for yolox Daisuke Nishimatsu diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp index 451af305a4410..06540f2b7cd19 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp @@ -31,6 +31,7 @@ #include #include #include +#include #include namespace diff --git a/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp b/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp index 919d68202a9a9..243e82c65dab9 100644 --- a/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp @@ -15,6 +15,8 @@ #include #include +#include + #if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) #include namespace fs = ::std::filesystem; diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index a4a65b6339ad1..337e7028ee61f 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_tracking_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9507 `_) + fix: clang-diagnostic-sign-conversion +* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9494 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index 89475edd247e6..2b19ee381258f 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_tracking_object_merger - 0.38.0 + 0.40.0 merge tracking object Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp index eab815969ac9a..44912e2242eb2 100644 --- a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp +++ b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp @@ -28,7 +28,10 @@ #include #include +#include +#include #include +#include using Label = autoware_perception_msgs::msg::ObjectClassification; diff --git a/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp index 9fd5fda7a63bb..9b859113390af 100644 --- a/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp @@ -16,6 +16,11 @@ #include "autoware/tracking_object_merger/utils/utils.hpp" +#include +#include +#include +#include + namespace autoware::tracking_object_merger { diff --git a/perception/autoware_tracking_object_merger/src/utils/utils.cpp b/perception/autoware_tracking_object_merger/src/utils/utils.cpp index 04d7f94f2886c..15d130b4fcd50 100644 --- a/perception/autoware_tracking_object_merger/src/utils/utils.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/utils.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index d1bc11f6e45f9..0b3182907a8ce 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_traffic_light_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 638bcbe941416..03d6ad5cb6cf4 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_arbiter - 0.38.0 + 0.40.0 The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura diff --git a/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp b/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp index d964f8b2cd7ba..396ebd8816088 100644 --- a/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp +++ b/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp @@ -14,6 +14,12 @@ #include "autoware/traffic_light_arbiter/signal_match_validator.hpp" +#include +#include +#include +#include +#include + namespace util { using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray; diff --git a/perception/autoware_traffic_light_arbiter/test/test_node.cpp b/perception/autoware_traffic_light_arbiter/test/test_node.cpp index 1419f8675d0fa..f993ad7cec84d 100644 --- a/perception/autoware_traffic_light_arbiter/test/test_node.cpp +++ b/perception/autoware_traffic_light_arbiter/test/test_node.cpp @@ -21,6 +21,10 @@ #include #include +#include +#include +#include +#include #include using autoware::TrafficLightArbiter; diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index 7995044220180..db6ddb6b18f87 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_traffic_light_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_traffic_light_classifier): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9497 `_) + fix: clang-diagnostic-delete-abstract-non-virtual-dtor +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index 99bdeb0643d91..d83791916d4b9 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_classifier - 0.38.0 + 0.40.0 The autoware_traffic_light_classifier package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 87a5dda3c8add..80b1fa60f9e1f 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_traffic_light_fine_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index fd540d80e5d7e..c9db06669ea99 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_fine_detector - 0.38.0 + 0.40.0 The autoware_traffic_light_fine_detector package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 76f5e608ca425..37ffca4a9526c 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -14,6 +14,8 @@ #include "traffic_light_fine_detector_node.hpp" +#include + #if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) #include namespace fs = ::std::filesystem; diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 5d05b6687cab3..60f84da7131f2 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_traffic_light_map_based_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index 0d0b1efe91d4c..c5caca47a0c39 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_map_based_detector - 0.38.0 + 0.40.0 The autoware_traffic_light_map_based_detector package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp b/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp index d133fe0b443d1..5e74d77df644f 100644 --- a/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp +++ b/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp @@ -31,6 +31,11 @@ #include #include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index 8842867c03485..74a7fa049c486 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -2,6 +2,58 @@ Changelog for package autoware_traffic_light_multi_camera_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error (`#9336 `_) + * feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error + * add const to argument + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index 111e34030c870..dfe8657577582 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_multi_camera_fusion - 0.38.0 + 0.40.0 The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp index 08c6600d91923..15211920bc7f2 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp +++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp @@ -18,6 +18,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index a378f3c04c1f3..8dec833763cb7 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_traffic_light_occlusion_predictor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index bebe2ae189e74..e10dddaf40eaf 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_occlusion_predictor - 0.38.0 + 0.40.0 The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp b/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp index 7fd5ac8489226..751e80e101e84 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp +++ b/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp @@ -16,6 +16,8 @@ #include "occlusion_predictor.hpp" #include +#include +#include namespace { diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 2da3f57f659e5..420b4bf485eec 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_traffic_light_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(traffic_light_roi_visualizer): show unknown results correctly (`#9467 `_) + fix: show unknown results correctly +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light_visualization): include opencv as system (`#9331 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Tao Zhong, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index afe09b9461b18..afb30d43f2a70 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_visualization - 0.38.0 + 0.40.0 The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp index 7ef13cf457c07..6ab9f09064f58 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp @@ -201,9 +201,9 @@ void TrafficLightRoiVisualizerNode::imageRoughRoiCallback( // bbox drawing cv_ptr = cv_bridge::toCvCopy(input_image_msg, sensor_msgs::image_encodings::RGB8); for (auto tl_rough_roi : input_tl_rough_roi_msg->rois) { - // visualize rough roi - createRect(cv_ptr->image, tl_rough_roi, cv::Scalar(0, 255, 0)); - + // note: a signal will still be output even if it is undetected + // Its position and size will be set as 0 and the color will be set as unknown + // So a rough roi will always have correspond roi a correspond traffic signal ClassificationResult result; bool has_correspond_traffic_signal = getClassificationResult(tl_rough_roi.traffic_light_id, *input_traffic_signals_msg, result); @@ -211,6 +211,8 @@ void TrafficLightRoiVisualizerNode::imageRoughRoiCallback( bool has_correspond_roi = getRoiFromId(tl_rough_roi.traffic_light_id, input_tl_roi_msg, tl_roi); + createRect(cv_ptr->image, tl_rough_roi, extractShapeInfo(result.label).color); + if (has_correspond_roi && has_correspond_traffic_signal) { // has fine detection and classification results createRect(cv_ptr->image, tl_roi, result); diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp index 8c7a59cbcb003..14b8d2e51c78d 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -29,6 +30,10 @@ void drawShape( cv::Mat & image, const std::vector & params, int size, const cv::Point & position, const cv::Scalar & color, float probability) { + // skip if the roi position is set as (0,0), which means it is undetected + if (position.x == 0 && position.y == 0) { + return; + } // load concatenated shape image const auto shape_img = loadShapeImage(params, size); @@ -42,14 +47,13 @@ void drawShape( const int fill_rect_h = std::max(shape_img.rows, text_size.height) + 10; const cv::Point rect_position(position.x, position.y - fill_rect_h); - if ( rect_position.x < 0 || rect_position.y < 0 || rect_position.x + fill_rect_w > image.cols || position.y > image.rows) { // TODO(KhalilSelyan): This error message may flood the terminal logs, so commented out // temporarily. Need to consider a better way. - // std::cerr << "Adjusted position is out of image bounds." << std::endl; + std::cerr << "Adjusted position is out of image bounds." << std::endl; return; } cv::Rect rectangle(rect_position.x, rect_position.y, fill_rect_w, fill_rect_h); diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index fbe74bbf6d28a..ddbe6e3f40270 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package perception_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(perception_utils): install include directory (`#9354 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml index d3d90a4d5ac26..058811b048459 100644 --- a/perception/perception_utils/package.xml +++ b/perception/perception_utils/package.xml @@ -2,7 +2,7 @@ perception_utils - 0.38.0 + 0.40.0 The perception_utils package Shunsuke Miura Yoshi Ri diff --git a/perception/perception_utils/src/run_length_encoder.cpp b/perception/perception_utils/src/run_length_encoder.cpp index fb7f5ba33b846..59430de5069e8 100644 --- a/perception/perception_utils/src/run_length_encoder.cpp +++ b/perception/perception_utils/src/run_length_encoder.cpp @@ -14,6 +14,8 @@ #include "perception_utils/run_length_encoder.hpp" +#include + namespace perception_utils { diff --git a/perception/perception_utils/test/test_utils.cpp b/perception/perception_utils/test/test_utils.cpp index d28b8489971e0..5d721c731935e 100644 --- a/perception/perception_utils/test/test_utils.cpp +++ b/perception/perception_utils/test/test_utils.cpp @@ -18,6 +18,8 @@ #include +#include + // Test case 1: Test if the decoded image is the same as the original image TEST(UtilsTest, runLengthEncoderDecoderTest) { diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index 58250e160fee9..6215cd6361b49 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -2,6 +2,86 @@ Changelog for package autoware_costmap_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) + * discretize updating grid center position by size of grid resolution + * modify logic for switching to lane driving in scenario selector + * fix spelling + --------- +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (`#9395 `_) + fix: clang-diagnostic-unused-private-field +* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858, mkquda + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, mkquda + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp index 72b56f0348a40..4fed5bcb6cff3 100644 --- a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp @@ -139,6 +139,13 @@ class CostmapGenerator : public rclcpp::Node void set_current_pose(); + /// \brief set position of grid center + /// \details computes relative position of ego from current grid center, + /// if offset is larger than grid resolution, grid center will be updated + /// by a multiple of the grid resolution + /// \param[in] tf costmap frame to vehicle frame transform + void set_grid_center(const geometry_msgs::msg::TransformStamped & tf); + void onTimer(); bool isActive(); @@ -148,7 +155,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief publish ros msg: grid_map::GridMap, and nav_msgs::OccupancyGrid /// \param[in] gridmap with calculated cost - void publishCostmap(const grid_map::GridMap & costmap); + /// \param[in] tf costmap frame to vehicle frame transform + void publishCostmap( + const grid_map::GridMap & costmap, const geometry_msgs::msg::TransformStamped & tf); /// \brief fill a vector with road area polygons /// \param [in] lanelet_map input lanelet map diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index 8779c1e706123..9097109de0a0b 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -2,7 +2,7 @@ autoware_costmap_generator - 0.38.0 + 0.40.0 The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp index d791836fa0a08..052bb2728a3b1 100644 --- a/planning/autoware_costmap_generator/src/costmap_generator.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -286,11 +286,7 @@ void CostmapGenerator::onTimer() } time_keeper_->end_track("lookupTransform"); - // Set grid center - grid_map::Position p; - p.x() = tf.transform.translation.x; - p.y() = tf.transform.translation.y; - costmap_.setPosition(p); + set_grid_center(tf); if ((param_->use_wayarea || param_->use_parkinglot) && lanelet_map_) { autoware::universe_utils::ScopedTimeTrack st("generatePrimitivesCostmap()", *time_keeper_); @@ -312,7 +308,18 @@ void CostmapGenerator::onTimer() costmap_[LayerName::combined] = generateCombinedCostmap(); } - publishCostmap(costmap_); + publishCostmap(costmap_, tf); +} + +void CostmapGenerator::set_grid_center(const geometry_msgs::msg::TransformStamped & tf) +{ + const auto cur_pos = costmap_.getPosition(); + const grid_map::Position ref_pos(tf.transform.translation.x, tf.transform.translation.y); + const auto disp = ref_pos - cur_pos; + const auto resolution = costmap_.getResolution(); + const grid_map::Position offset( + std::round(disp.x() / resolution) * resolution, std::round(disp.y() / resolution) * resolution); + costmap_.setPosition(cur_pos + offset); } bool CostmapGenerator::isActive() @@ -324,8 +331,8 @@ bool CostmapGenerator::isActive() if (param_->activate_by_scenario) { if (!scenario_) return false; const auto & s = scenario_->activating_scenarios; - return std::any_of(s.begin(), s.end(), [](const auto scen) { - return scen == tier4_planning_msgs::msg::Scenario::PARKING; + return std::any_of(s.begin(), s.end(), [](const auto scenario) { + return scenario == tier4_planning_msgs::msg::Scenario::PARKING; }); } @@ -452,7 +459,8 @@ grid_map::Matrix CostmapGenerator::generateCombinedCostmap() return combined_costmap[LayerName::combined]; } -void CostmapGenerator::publishCostmap(const grid_map::GridMap & costmap) +void CostmapGenerator::publishCostmap( + const grid_map::GridMap & costmap, const geometry_msgs::msg::TransformStamped & tf) { // Set header std_msgs::msg::Header header; @@ -465,11 +473,13 @@ void CostmapGenerator::publishCostmap(const grid_map::GridMap & costmap) costmap, LayerName::combined, param_->grid_min_value, param_->grid_max_value, out_occupancy_grid); out_occupancy_grid.header = header; + out_occupancy_grid.info.origin.position.z = tf.transform.translation.z; pub_occupancy_grid_->publish(out_occupancy_grid); // Publish GridMap auto out_gridmap_msg = grid_map::GridMapRosConverter::toMessage(costmap); out_gridmap_msg->header = header; + out_gridmap_msg->info.pose.position.z = tf.transform.translation.z; pub_costmap_->publish(*out_gridmap_msg); // Publish ProcessingTime diff --git a/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp index bcd2e15fe9ca7..64f558b4f5604 100644 --- a/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp @@ -50,6 +50,7 @@ #include #include +#include #include #include diff --git a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp index 00c35e2514f43..f0db05b6fdd6f 100644 --- a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp +++ b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp @@ -20,6 +20,10 @@ #include +#include +#include +#include + using autoware::costmap_generator::CostmapGenerator; using tier4_planning_msgs::msg::Scenario; diff --git a/planning/autoware_costmap_generator/test/test_object_map_utils.cpp b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp index a20c2326d2757..5225b089f845f 100644 --- a/planning/autoware_costmap_generator/test/test_object_map_utils.cpp +++ b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp @@ -17,6 +17,8 @@ #include +#include + namespace { grid_map::GridMap construct_gridmap( diff --git a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp index 4ab5a32e77028..83f7055531e7d 100644 --- a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace { geometry_msgs::msg::Point32 toPoint32(const geometry_msgs::msg::Pose & pose) diff --git a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp index b98479f43c2aa..ecfeaaf6ac676 100644 --- a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::costmap_generator { using pointcloud = pcl::PointCloud; diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index d4e76a6d54d81..0dd0f835c1f53 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_external_velocity_limit_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) + * change max acceleration and max jerk according to external velocity request + * modify external velocity limit selector + * fix external velocity limit selector + * fix format + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp index 2aa06079dadbc..6a8fae3bf394c 100644 --- a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp +++ b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp @@ -22,7 +22,6 @@ #include #include -#include #include #include #include diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index 252b195945deb..b75a4fab72d7c 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_velocity_limit_selector - 0.38.0 + 0.40.0 The autoware_external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa diff --git a/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp b/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp index 2052c8438bcfa..cf42763fc6b60 100644 --- a/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp +++ b/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp @@ -14,12 +14,12 @@ #include "autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp" -#include +#include #include +#include #include #include #include -#include namespace autoware::external_velocity_limit_selector { @@ -34,12 +34,17 @@ VelocityLimit getHardestLimit( hardest_limit.max_velocity = node_param.max_vel; VelocityLimitConstraints normal_constraints{}; + normal_constraints.max_acceleration = node_param.normal.max_acc; normal_constraints.min_acceleration = node_param.normal.min_acc; normal_constraints.min_jerk = node_param.normal.min_jerk; normal_constraints.max_jerk = node_param.normal.max_jerk; double hardest_max_velocity = node_param.max_vel; double hardest_max_jerk = 0.0; + double hardest_max_acceleration = 0.0; + std::string hardest_max_acceleration_key; + size_t constraint_num = 0; + size_t acceleration_constraint_num = 0; for (const auto & limit : velocity_limits) { // guard nan, inf @@ -59,6 +64,19 @@ VelocityLimit getHardestLimit( ? limit.second.constraints : normal_constraints; + if (limit.second.use_constraints) { + constraint_num++; + if (limit.second.constraints.max_acceleration > normal_constraints.max_acceleration) { + acceleration_constraint_num++; + hardest_max_acceleration_key = limit.first; + } + } + + if (hardest_max_acceleration < limit.second.constraints.max_acceleration) { + hardest_max_acceleration_key = limit.first; + hardest_max_acceleration = limit.second.constraints.max_acceleration; + } + // find hardest jerk if (hardest_max_jerk < constraints.max_jerk) { hardest_limit.constraints = constraints; @@ -67,6 +85,14 @@ VelocityLimit getHardestLimit( } } + if (constraint_num > 0 && constraint_num == acceleration_constraint_num) { + if (velocity_limits.find(hardest_max_acceleration_key) != velocity_limits.end()) { + const auto constraints = velocity_limits.at(hardest_max_acceleration_key).constraints; + hardest_limit.constraints = constraints; + hardest_limit.use_constraints = true; + } + } + return hardest_limit; } diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index dd7f0ce0416ce..ad8960a64d3d2 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -2,6 +2,59 @@ Changelog for package autoware_freespace_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(freespace_planner): add processing time pub (`#9332 `_) +* fix(freespace_planner): fix is near target check (`#9327 `_) + * fix is_near_target_check + * update unit test + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, mkquda, stevenbrills + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index 7e8c2c5beca6c..fd7e39d191647 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planner - 0.38.0 + 0.40.0 The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp index 2e0c461ae71c0..a08c62723c3d5 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp @@ -16,6 +16,9 @@ #include +#include +#include + namespace autoware::freespace_planner::utils { diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp index add449c66eb0d..bccf417503edb 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp @@ -25,6 +25,11 @@ #include #include +#include +#include +#include +#include + using autoware::freespace_planner::FreespacePlannerNode; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp index f43b4401865b2..8bf30757aafb7 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::freespace_planner::FreespacePlannerNode; diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp index 534278a3b8dc8..e374c4056df1e 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -19,6 +19,7 @@ #include #include +#include #include using autoware::freespace_planner::utils::Odometry; diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index 7832350b16067..8f6b94a2e0a80 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -2,6 +2,70 @@ Changelog for package autoware_freespace_planning_algorithms ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-const-variable (`#9433 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-ignored-optimization-argument (`#9418 `_) + fix: clang-diagnostic-ignored-optimization-argument +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-private-field (`#9396 `_) + * fix: clang-diagnostic-unused-private-field + * fix: build error + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, kobayu858, stevenbrills + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml index 219a738d50423..4bffa7bd15c1d 100644 --- a/planning/autoware_freespace_planning_algorithms/package.xml +++ b/planning/autoware_freespace_planning_algorithms/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planning_algorithms - 0.38.0 + 0.40.0 The autoware_freespace_planning_algorithms package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp index f2003e438f5bf..7808d18f24aed 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp +++ b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp @@ -24,6 +24,9 @@ #include #include +#include +#include + namespace autoware::freespace_planning_algorithms { struct PlannerWaypointsVector diff --git a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp index b968e70bd2c01..56d6526e26272 100644 --- a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp @@ -19,6 +19,8 @@ #include #include +#include +#include #include #include diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index 3fecf800f1bf6..0a17b112eed6f 100644 --- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp @@ -24,6 +24,9 @@ #include #include +#include +#include +#include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp index 000b118214d9e..0427381db7de8 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp @@ -16,6 +16,8 @@ #include "autoware/freespace_planning_algorithms/kinematic_bicycle_model.hpp" +#include + namespace autoware::freespace_planning_algorithms { rrtstar_core::Pose poseMsgToPose(const geometry_msgs::msg::Pose & pose_msg) diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp index 853d9ef0a9787..6affc862cc64e 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp @@ -16,13 +16,16 @@ #include +#include #include #include #include #include #include +#include #include #include +#include // cspell: ignore rsspace // In this case, RSSpace means "Reeds Shepp state Space" diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index a2ed4c3e7e0fc..c343a8773f8ad 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -29,6 +29,8 @@ #include #include #include +#include +#include #include #include #include @@ -231,9 +233,9 @@ std::unique_ptr configure_astar(bool use_multi) obstacle_distance_weight, goal_lat_distance_weight}; - auto clock_shrd_ptr = std::make_shared(RCL_ROS_TIME); - auto algo = std::make_unique( - planner_common_param, vehicle_shape, astar_param, clock_shrd_ptr); + auto clock_ptr = std::make_shared(RCL_ROS_TIME); + auto algo = + std::make_unique(planner_common_param, vehicle_shape, astar_param, clock_ptr); return algo; } @@ -247,9 +249,9 @@ std::unique_ptr configure_rrtstar(bool informed, const double max_planning_time = 200; const auto rrtstar_param = fpa::RRTStarParam{update, informed, max_planning_time, mu, margin}; - auto clock_shrd_ptr = std::make_shared(RCL_ROS_TIME); - auto algo = std::make_unique( - planner_common_param, vehicle_shape, rrtstar_param, clock_shrd_ptr); + auto clock_ptr = std::make_shared(RCL_ROS_TIME); + auto algo = + std::make_unique(planner_common_param, vehicle_shape, rrtstar_param, clock_ptr); return algo; } diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp index 40181884d36c7..a7a66123b7856 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::freespace_planning_algorithms::rrtstar_core { diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst index 5859bddced76b..ed21313c96af2 100644 --- a/planning/autoware_mission_planner/CHANGELOG.rst +++ b/planning/autoware_mission_planner/CHANGELOG.rst @@ -2,6 +2,61 @@ Changelog for package autoware_mission_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) + Fixed autoware_glog_compontnt +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix(mission_planner): fix initialization after route set (`#9457 `_) +* fix(autoware_mission_planner): fix clang-diagnostic-error (`#9432 `_) +* feat(mission_planner): add processing time publisher (`#9342 `_) + * feat(mission_planner): add processing time publisher + * delete extra line + * update: mission_planner, route_selector, service_utils. + * Revert "update: mission_planner, route_selector, service_utils." + This reverts commit d460a633c04c166385963c5233c3845c661e595e. + * Update to show that exceptions are not handled + * feat(mission_planner,route_selector): add processing time publisher + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner/launch/mission_planner.launch.xml index 8d77e417a6379..c15874118011a 100644 --- a/planning/autoware_mission_planner/launch/mission_planner.launch.xml +++ b/planning/autoware_mission_planner/launch/mission_planner.launch.xml @@ -23,6 +23,6 @@ - + diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml index 8d188e53fdef5..e7cf974b2ba25 100644 --- a/planning/autoware_mission_planner/package.xml +++ b/planning/autoware_mission_planner/package.xml @@ -2,7 +2,7 @@ autoware_mission_planner - 0.38.0 + 0.40.0 The autoware_mission_planner package Takagi, Isamu Kosuke Takeuchi diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp index 08345282a9264..40bccd118965f 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::mission_planner::lanelet2 { diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 521beb8f7dcd5..cbbcfb84d2cbb 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -27,7 +27,10 @@ #include #include +#include +#include #include +#include namespace autoware::mission_planner { diff --git a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp b/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp index 124a04e3e4ed2..8da26ab851bb4 100644 --- a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp +++ b/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp @@ -29,6 +29,10 @@ #include #include +#include +#include +#include + using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createQuaternionFromRPY; using autoware_planning_msgs::msg::LaneletRoute; diff --git a/planning/autoware_mission_planner/test/test_utility_functions.cpp b/planning/autoware_mission_planner/test/test_utility_functions.cpp index 6cde09b7664a2..da44a2ad17cf0 100644 --- a/planning/autoware_mission_planner/test/test_utility_functions.cpp +++ b/planning/autoware_mission_planner/test/test_utility_functions.cpp @@ -23,6 +23,8 @@ #include #include +#include + using autoware::mission_planner::lanelet2::convert_linear_ring_to_polygon; using autoware::mission_planner::lanelet2::convertBasicPoint3dToPose; using autoware::mission_planner::lanelet2::convertCenterlineToPoints; diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst index b70fabb1500db..16b583990ec3e 100644 --- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_objects_of_interest_marker_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml index c9e0a672c0bfc..6d179f7872dc1 100644 --- a/planning/autoware_objects_of_interest_marker_interface/package.xml +++ b/planning/autoware_objects_of_interest_marker_interface/package.xml @@ -1,7 +1,7 @@ autoware_objects_of_interest_marker_interface - 0.38.0 + 0.40.0 The autoware_objects_of_interest_marker_interface package Fumiya Watanabe diff --git a/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp index 42d92bd0c91da..f2f076869e2ff 100644 --- a/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp @@ -14,6 +14,8 @@ #include "autoware/objects_of_interest_marker_interface/marker_utils.hpp" +#include + namespace autoware::objects_of_interest_marker_interface::marker_utils { using geometry_msgs::msg::Point; diff --git a/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp index 253d2ec05c246..cbdb2542b97e7 100644 --- a/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace autoware::objects_of_interest_marker_interface { using autoware_perception_msgs::msg::Shape; diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 65d4428bbcbb0..827fee6a58039 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -2,6 +2,109 @@ Changelog for package autoware_obstacle_cruise_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#9594 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(obstacle_cruise_planner)!: remove stop reason (`#9464 `_) + fix(obstacle_cruise_planner): remove stop reason +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (`#9359 `_) + * feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. + * fix: cppcheck + --------- +* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9419 `_) + fix: clang-diagnostic-delete-abstract-non-virtual-dtor +* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (`#9398 `_) + fix: clang-diagnostic-defaulted-function-deleted +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp index 7bd4d37ba5797..8abff415e47df 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp @@ -169,12 +169,15 @@ struct CruiseObstacle : public TargetObstacleInterface CruiseObstacle( const std::string & arg_uuid, const rclcpp::Time & arg_stamp, const geometry_msgs::msg::Pose & arg_pose, const double arg_lon_velocity, - const double arg_lat_velocity, const std::vector & arg_collision_points) + const double arg_lat_velocity, const std::vector & arg_collision_points, + bool arg_is_yield_obstacle = false) : TargetObstacleInterface(arg_uuid, arg_stamp, arg_pose, arg_lon_velocity, arg_lat_velocity), - collision_points(arg_collision_points) + collision_points(arg_collision_points), + is_yield_obstacle(arg_is_yield_obstacle) { } std::vector collision_points; // time-series collision points + bool is_yield_obstacle; }; struct SlowDownObstacle : public TargetObstacleInterface diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp index 629dba73e85dc..6a106776e48b5 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp @@ -24,6 +24,7 @@ #include "autoware/universe_utils/ros/polling_subscriber.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" +#include #include #include @@ -180,6 +181,8 @@ class ObstacleCruisePlannerNode : public rclcpp::Node this, "~/input/pointcloud"}; autoware::universe_utils::InterProcessPollingSubscriber acc_sub_{ this, "~/input/acceleration"}; + autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface + objects_of_interest_marker_interface_{this, "obstacle_cruise_planner"}; std::unique_ptr tf_buffer_; std::shared_ptr tf_listener_{nullptr}; diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index d8bf161ef866f..8583d0639e5ce 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -1,7 +1,7 @@ autoware_obstacle_cruise_planner - 0.38.0 + 0.40.0 The autoware_obstacle_cruise_planner package Takayuki Murooka @@ -23,6 +23,7 @@ autoware_lanelet2_extension autoware_motion_utils autoware_object_recognition_utils + autoware_objects_of_interest_marker_interface autoware_osqp_interface autoware_perception_msgs autoware_planning_msgs diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index a6a029530b1a5..6931ff58e8457 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -32,6 +32,13 @@ #include #include +#include +#include +#include +#include +#include +#include +#include namespace { @@ -508,10 +515,9 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & // debug publisher debug_calculation_time_pub_ = create_publisher("~/debug/processing_time_ms", 1); - debug_cruise_wall_marker_pub_ = create_publisher("~/debug/cruise/virtual_wall", 1); - debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall", 1); - debug_slow_down_wall_marker_pub_ = - create_publisher("~/debug/slow_down/virtual_wall", 1); + debug_cruise_wall_marker_pub_ = create_publisher("~/virtual_wall/cruise", 1); + debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall/stop", 1); + debug_slow_down_wall_marker_pub_ = create_publisher("~/virtual_wall/slow_down", 1); debug_marker_pub_ = create_publisher("~/debug/marker", 1); debug_stop_planning_info_pub_ = create_publisher("~/debug/stop_planning_info", 1); @@ -722,6 +728,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms planner_ptr_->publishMetrics(now()); publishDebugMarker(); publishDebugInfo(); + objects_of_interest_marker_interface_.publishMarkerArray(); // 9. Publish and print calculation time const double calculation_time = stop_watch_.toc(__func__); @@ -1378,7 +1385,8 @@ std::optional ObstacleCruisePlannerNode::createYieldCruiseObstac obstacle.pose, obstacle.longitudinal_velocity, obstacle.approach_velocity, - collision_points.value()}; + collision_points.value(), + true}; } std::optional> ObstacleCruisePlannerNode::findYieldCruiseObstacles( @@ -1449,6 +1457,9 @@ std::optional> ObstacleCruisePlannerNode::findYieldC const auto yield_obstacle = createYieldCruiseObstacle(moving_obstacle, traj_points); if (yield_obstacle) { yield_obstacles.push_back(*yield_obstacle); + using autoware::objects_of_interest_marker_interface::ColorName; + objects_of_interest_marker_interface_.insertObjectData( + stopped_obstacle.pose, stopped_obstacle.shape, ColorName::RED); } } } diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp index 7bf0f67129a20..62edf82beec5a 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp @@ -25,6 +25,12 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" +#include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp index 8e31411bfb4af..39a35204cda8f 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp @@ -16,7 +16,9 @@ #include +#include #include +#include VelocityOptimizer::VelocityOptimizer( const double max_s_weight, const double max_v_weight, const double over_s_safety_weight, diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index da5d083d6ddcf..544597f05ff75 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -23,6 +23,11 @@ #include "tier4_planning_msgs/msg/velocity_limit.hpp" +#include +#include +#include +#include + using autoware::signal_processing::LowpassFilter1d; namespace @@ -315,8 +320,11 @@ std::vector PIDBasedPlanner::planCruise( const size_t wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset( stop_traj_points, dist_to_rss_wall, ego_idx); + const std::string wall_reason_string = cruise_obstacle_info->obstacle.is_yield_obstacle + ? "obstacle cruise (yield)" + : "obstacle cruise"; auto markers = autoware::motion_utils::createSlowDownVirtualWallMarker( - stop_traj_points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0); + stop_traj_points.at(wall_idx).pose, wall_reason_string, planner_data.current_time, 0); // NOTE: use a different color from slow down one to visualize cruise and slow down // separately. markers.markers.front().color = diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index bfff561e3ffe2..b08bb10ef69cf 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -25,8 +25,12 @@ #include #include +#include +#include #include #include +#include +#include namespace { diff --git a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp index 639feec856a7e..4d6e6568067f4 100644 --- a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp @@ -18,6 +18,11 @@ #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include +#include +#include +#include + namespace { PointWithStamp calcNearestCollisionPoint( diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp index 3bf6ee311ca13..82f4e6978181f 100644 --- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp @@ -17,6 +17,10 @@ #include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" +#include +#include +#include + namespace obstacle_cruise_utils { namespace @@ -88,7 +92,7 @@ PoseWithStamp getCurrentObjectPose( getCurrentObjectPoseFromPredictedPaths(predicted_paths, obj_base_time, current_time); if (!interpolated_pose) { - RCLCPP_WARN( + RCLCPP_DEBUG( rclcpp::get_logger("ObstacleCruisePlanner"), "Failed to find the interpolated obstacle pose"); return PoseWithStamp{obj_base_time, pose}; } diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp index ef5f695756b7e..2235704a3a070 100644 --- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::motion_planning::ObstacleCruisePlannerNode; diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp index f7dbd60596507..b32508cc2c50e 100644 --- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp @@ -21,6 +21,9 @@ #include +#include +#include + StopObstacle generate_stop_obstacle(uint8_t label, double dist) { const std::string uuid{}; diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index cffc56e34f282..867553c9ffd4e 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_obstacle_stop_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(obstacle_stop_planner): remove stop reason (`#9465 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warnings (`#9388 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_obstacle_stop_planner/README.md b/planning/autoware_obstacle_stop_planner/README.md index d3965192cd4c3..700cb657786ff 100644 --- a/planning/autoware_obstacle_stop_planner/README.md +++ b/planning/autoware_obstacle_stop_planner/README.md @@ -24,10 +24,9 @@ ### Output topics -| Name | Type | Description | -| ---------------------- | ------------------------------------ | -------------------------------------- | -| `~output/trajectory` | autoware_planning_msgs::Trajectory | trajectory to be followed | -| `~output/stop_reasons` | tier4_planning_msgs::StopReasonArray | reasons that cause the vehicle to stop | +| Name | Type | Description | +| -------------------- | ---------------------------------- | ------------------------- | +| `~output/trajectory` | autoware_planning_msgs::Trajectory | trajectory to be followed | ### Common Parameter diff --git a/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml b/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml index db38370d36dfb..0b0fdc6e00459 100644 --- a/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml +++ b/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml @@ -22,7 +22,6 @@ - diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 90c4b3230d5fc..c9c78b3e87c3b 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_stop_planner - 0.38.0 + 0.40.0 The autoware_obstacle_stop_planner package Satoshi Ota diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp index 75d25f3f8db80..93526518306af 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp @@ -18,6 +18,8 @@ #include #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else @@ -47,7 +49,6 @@ ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode( { virtual_wall_pub_ = node_->create_publisher("~/virtual_wall", 1); debug_viz_pub_ = node_->create_publisher("~/debug/marker", 1); - stop_reason_pub_ = node_->create_publisher("~/output/stop_reasons", 1); velocity_factor_pub_ = node_->create_publisher("/planning/velocity_factors/obstacle_stop", 1); pub_debug_values_ = @@ -188,8 +189,6 @@ void ObstacleStopPlannerDebugNode::publish() debug_viz_pub_->publish(visualization_msg); /* publish stop reason for autoware api */ - const auto stop_reason_msg = makeStopReasonArray(); - stop_reason_pub_->publish(stop_reason_msg); const auto velocity_factor_msg = makeVelocityFactorArray(); velocity_factor_pub_->publish(velocity_factor_msg); @@ -493,33 +492,6 @@ MarkerArray ObstacleStopPlannerDebugNode::makeVisualizationMarker() return msg; } -StopReasonArray ObstacleStopPlannerDebugNode::makeStopReasonArray() -{ - // create header - Header header; - header.frame_id = "map"; - header.stamp = node_->now(); - - // create stop reason stamped - StopReason stop_reason_msg; - stop_reason_msg.reason = StopReason::OBSTACLE_STOP; - StopFactor stop_factor; - - if (stop_pose_ptr_ != nullptr) { - stop_factor.stop_pose = *stop_pose_ptr_; - if (stop_obstacle_point_ptr_ != nullptr) { - stop_factor.stop_factor_points.emplace_back(*stop_obstacle_point_ptr_); - } - stop_reason_msg.stop_factors.emplace_back(stop_factor); - } - - // create stop reason array - StopReasonArray stop_reason_array; - stop_reason_array.header = header; - stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); - return stop_reason_array; -} - VelocityFactorArray ObstacleStopPlannerDebugNode::makeVelocityFactorArray() { VelocityFactorArray velocity_factor_array; diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp index 4400368cc3d70..d13e775e3d683 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp @@ -21,7 +21,6 @@ #include #include #include -#include #include #include @@ -47,9 +46,6 @@ using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::VelocityFactor; using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using tier4_debug_msgs::msg::Float32MultiArrayStamped; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; -using tier4_planning_msgs::msg::StopReasonArray; enum class PolygonType : int8_t { Vehicle = 0, Collision, SlowDownRange, SlowDown, Obstacle }; @@ -113,7 +109,6 @@ class ObstacleStopPlannerDebugNode bool pushObstaclePoint(const pcl::PointXYZ & obstacle_point, const PointType & type); MarkerArray makeVirtualWallMarker(); MarkerArray makeVisualizationMarker(); - StopReasonArray makeStopReasonArray(); VelocityFactorArray makeVelocityFactorArray(); void setDebugValues(const DebugValues::TYPE type, const double val) @@ -125,7 +120,6 @@ class ObstacleStopPlannerDebugNode private: rclcpp::Publisher::SharedPtr virtual_wall_pub_; rclcpp::Publisher::SharedPtr debug_viz_pub_; - rclcpp::Publisher::SharedPtr stop_reason_pub_; rclcpp::Publisher::SharedPtr velocity_factor_pub_; rclcpp::Publisher::SharedPtr pub_debug_values_; rclcpp::Node * node_; diff --git a/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp b/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp index 28c5523f49620..5cdb48a9d6a70 100644 --- a/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp +++ b/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp @@ -31,6 +31,9 @@ #include #include +#include +#include +#include namespace autoware::motion_planning { diff --git a/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp b/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp index 99a1ab46d2304..9f840586a1959 100644 --- a/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp +++ b/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::motion_planning::ObstacleStopPlannerNode; diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 17d9495050dbe..19798e6697ec6 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_path_optimizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* docs: update the list styles (`#9555 `_) +* fix(path_optimizer): solve issue with time keeper (`#9483 `_) + solve issue with time keeper +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_path_optimizer/docs/mpt.md b/planning/autoware_path_optimizer/docs/mpt.md index 4b35fd0e36ab5..634542a13295f 100644 --- a/planning/autoware_path_optimizer/docs/mpt.md +++ b/planning/autoware_path_optimizer/docs/mpt.md @@ -360,9 +360,9 @@ $$ To realize collision-free trajectory planning, we have to formulate constraints that the vehicle is inside the road and also does not collide with obstacles in linear equations. For linearity, we implemented some methods to approximate the vehicle shape with a set of circles, that is reliable and easy to implement. -- 1. Bicycle Model -- 2. Uniform Circles -- 3. Fitting Uniform Circles +1. Bicycle Model +2. Uniform Circles +3. Fitting Uniform Circles ![vehicle_circles](../media/vehicle_circles.svg) diff --git a/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml b/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml index 38b3d83e94991..1a65357e52d53 100644 --- a/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml +++ b/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml @@ -5,7 +5,7 @@ - + diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 7c5b1e68e759a..eb02db8ea9586 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -2,7 +2,7 @@ autoware_path_optimizer - 0.38.0 + 0.40.0 The autoware_path_optimizer package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_path_optimizer/src/debug_marker.cpp b/planning/autoware_path_optimizer/src/debug_marker.cpp index 397c334eca5b7..cf994dadf38cc 100644 --- a/planning/autoware_path_optimizer/src/debug_marker.cpp +++ b/planning/autoware_path_optimizer/src/debug_marker.cpp @@ -18,6 +18,9 @@ #include "visualization_msgs/msg/marker_array.hpp" +#include +#include + namespace autoware::path_optimizer { using autoware::universe_utils::appendMarkerArray; diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp index df07f3f98957a..bff3b78b6ba7d 100644 --- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp +++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp @@ -26,8 +26,12 @@ #include #include #include +#include #include +#include #include +#include +#include namespace autoware::path_optimizer { diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index 98bc05d0fe1cf..9d0345e304235 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -25,6 +25,9 @@ #include #include #include +#include +#include +#include namespace autoware::path_optimizer { diff --git a/planning/autoware_path_optimizer/src/replan_checker.cpp b/planning/autoware_path_optimizer/src/replan_checker.cpp index 11e31bfd2d459..a52fbcc78211f 100644 --- a/planning/autoware_path_optimizer/src/replan_checker.cpp +++ b/planning/autoware_path_optimizer/src/replan_checker.cpp @@ -19,6 +19,7 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/update_param.hpp" +#include #include namespace autoware::path_optimizer diff --git a/planning/autoware_path_optimizer/src/state_equation_generator.cpp b/planning/autoware_path_optimizer/src/state_equation_generator.cpp index 74033c5834db2..6bb95d665c8d5 100644 --- a/planning/autoware_path_optimizer/src/state_equation_generator.cpp +++ b/planning/autoware_path_optimizer/src/state_equation_generator.cpp @@ -16,6 +16,8 @@ #include "autoware/path_optimizer/mpt_optimizer.hpp" +#include + namespace autoware::path_optimizer { // state equation: x = B u + W (u includes x_0) diff --git a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp index 9d24702cf75ea..e310fecf15d8c 100644 --- a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp +++ b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index ab5e23100f6cd..4b7f86361c63b 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_path_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 6c8b3efec678b..3fa7b9fa482ed 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -2,7 +2,7 @@ autoware_path_smoother - 0.38.0 + 0.40.0 The autoware_path_smoother package Takayuki Murooka Maxime CLEMENT diff --git a/planning/autoware_path_smoother/src/elastic_band.cpp b/planning/autoware_path_smoother/src/elastic_band.cpp index 0bec4e46c8b42..20786b7b3601e 100644 --- a/planning/autoware_path_smoother/src/elastic_band.cpp +++ b/planning/autoware_path_smoother/src/elastic_band.cpp @@ -27,6 +27,9 @@ #include #include #include +#include +#include +#include namespace { @@ -34,9 +37,9 @@ Eigen::SparseMatrix makePMatrix(const int num_points) { std::vector> triplet_vec; const auto assign_value_to_triplet_vec = - [&](const double row, const double colum, const double value) { - triplet_vec.push_back(Eigen::Triplet(row, colum, value)); - triplet_vec.push_back(Eigen::Triplet(row + num_points, colum + num_points, value)); + [&](const double row, const double column, const double value) { + triplet_vec.push_back(Eigen::Triplet(row, column, value)); + triplet_vec.push_back(Eigen::Triplet(row + num_points, column + num_points, value)); }; for (int r = 0; r < num_points; ++r) { diff --git a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp index a3082a2c979c3..2569faa4b8232 100644 --- a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp +++ b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp @@ -22,6 +22,9 @@ #include #include +#include +#include +#include namespace autoware::path_smoother { diff --git a/planning/autoware_path_smoother/src/replan_checker.cpp b/planning/autoware_path_smoother/src/replan_checker.cpp index 5d2e7a05e4b17..5739aa7481831 100644 --- a/planning/autoware_path_smoother/src/replan_checker.cpp +++ b/planning/autoware_path_smoother/src/replan_checker.cpp @@ -19,6 +19,7 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/update_param.hpp" +#include #include namespace autoware::path_smoother diff --git a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp index 7c92763f94521..7402541c727ff 100644 --- a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp +++ b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst index 67cf805f36426..f1ac0f088c3cc 100644 --- a/planning/autoware_planning_test_manager/CHANGELOG.rst +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_planning_test_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(planning_test_manager): update owner (`#9620 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp index 63ad2ecce09cc..5081b14dda63b 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp @@ -22,7 +22,9 @@ #include #include +#include #include +#include #include namespace autoware_planning_test_manager::utils @@ -33,9 +35,11 @@ using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; using RouteSections = std::vector; -Pose createPoseFromLaneID(const lanelet::Id & lane_id) +Pose createPoseFromLaneID( + const lanelet::Id & lane_id, const std::string & package_name = "autoware_test_utils", + const std::string & map_filename = "lanelet2_map.osm") { - auto map_bin_msg = autoware::test_utils::makeMapBinMsg(); + auto map_bin_msg = autoware::test_utils::makeMapBinMsg(package_name, map_filename); // create route_handler auto route_handler = std::make_shared(); route_handler->setMap(map_bin_msg); @@ -66,16 +70,19 @@ Pose createPoseFromLaneID(const lanelet::Id & lane_id) // Function to create a route from given start and goal lanelet ids // start pose and goal pose are set to the middle of the lanelet -LaneletRoute makeBehaviorRouteFromLaneId(const int & start_lane_id, const int & goal_lane_id) +LaneletRoute makeBehaviorRouteFromLaneId( + const int & start_lane_id, const int & goal_lane_id, + const std::string & package_name = "autoware_test_utils", + const std::string & map_filename = "lanelet2_map.osm") { LaneletRoute route; route.header.frame_id = "map"; - auto start_pose = createPoseFromLaneID(start_lane_id); - auto goal_pose = createPoseFromLaneID(goal_lane_id); + auto start_pose = createPoseFromLaneID(start_lane_id, package_name, map_filename); + auto goal_pose = createPoseFromLaneID(goal_lane_id, package_name, map_filename); route.start_pose = start_pose; route.goal_pose = goal_pose; - auto map_bin_msg = autoware::test_utils::makeMapBinMsg(); + auto map_bin_msg = autoware::test_utils::makeMapBinMsg(package_name, map_filename); // create route_handler auto route_handler = std::make_shared(); route_handler->setMap(map_bin_msg); diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 0ce898cb3fbf9..80801a8102453 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -2,10 +2,11 @@ autoware_planning_test_manager - 0.38.0 + 0.40.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe + Mamoru Sobue Apache License 2.0 Kyoichi Sugahara diff --git a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp index 1526e061ca4d1..62f89cab44e7b 100644 --- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp +++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp @@ -19,6 +19,11 @@ #include #include +#include +#include +#include +#include + namespace autoware::planning_test_manager { @@ -279,9 +284,13 @@ void PlanningInterfaceTestManager::publishAbnormalRoute( void PlanningInterfaceTestManager::publishNominalPathWithLaneId( rclcpp::Node::SharedPtr target_node, std::string topic_name) { - autoware::test_utils::publishToTargetNode( - test_node_, target_node, topic_name, normal_path_with_lane_id_pub_, - autoware::test_utils::loadPathWithLaneIdInYaml(), 5); + try { + const auto path = autoware::test_utils::loadPathWithLaneIdInYaml(); + autoware::test_utils::publishToTargetNode( + test_node_, target_node, topic_name, normal_path_with_lane_id_pub_, path, 5); + } catch (const std::exception & e) { + std::cerr << e.what() << '\n'; + } } void PlanningInterfaceTestManager::publishAbNominalPathWithLaneId( @@ -294,11 +303,14 @@ void PlanningInterfaceTestManager::publishAbNominalPathWithLaneId( void PlanningInterfaceTestManager::publishNominalPath( rclcpp::Node::SharedPtr target_node, std::string topic_name) { - autoware::test_utils::publishToTargetNode( - test_node_, target_node, topic_name, normal_path_pub_, - autoware::motion_utils::convertToPath( - autoware::test_utils::loadPathWithLaneIdInYaml()), - 5); + try { + const auto path = autoware::test_utils::loadPathWithLaneIdInYaml(); + autoware::test_utils::publishToTargetNode( + test_node_, target_node, topic_name, normal_path_pub_, + autoware::motion_utils::convertToPath(path), 5); + } catch (const std::exception & e) { + std::cerr << e.what() << '\n'; + } } void PlanningInterfaceTestManager::publishAbnormalPath( diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index 7152b275dd5d9..e937e664654a2 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_planning_topic_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml index 42ce0fdc16588..e2585924a61d2 100644 --- a/planning/autoware_planning_topic_converter/package.xml +++ b/planning/autoware_planning_topic_converter/package.xml @@ -1,7 +1,7 @@ autoware_planning_topic_converter - 0.38.0 + 0.40.0 The autoware_planning_topic_converter package Satoshi OTA diff --git a/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp b/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp index ff2f3084fc9ba..76bb660259323 100644 --- a/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp +++ b/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::planning_topic_converter { namespace diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index 7a8380f24cb8d..76018e5bf5f11 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_planning_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml index 358d721b2f6e5..1652c2ad4f544 100644 --- a/planning/autoware_planning_validator/package.xml +++ b/planning/autoware_planning_validator/package.xml @@ -2,7 +2,7 @@ autoware_planning_validator - 0.38.0 + 0.40.0 ros node for autoware_planning_validator Takamasa Horibe Kosuke Takeuchi diff --git a/planning/autoware_planning_validator/src/utils.cpp b/planning/autoware_planning_validator/src/utils.cpp index 0a70b4d415dcb..4304cd6146647 100644 --- a/planning/autoware_planning_validator/src/utils.cpp +++ b/planning/autoware_planning_validator/src/utils.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp index 9282392197665..6b0370fd6cf23 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp @@ -19,6 +19,7 @@ #include +#include #include using autoware::planning_validator::PlanningValidator; diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp index 6476086c67730..2cf03e04311f2 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::planning_test_manager::PlanningInterfaceTestManager; diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp index a83fa1fd965fe..882ff09cfa33a 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp @@ -22,7 +22,10 @@ #include +#include #include +#include +#include #include /* diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 245fa0b4ef084..570e7b4783ca4 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_remaining_distance_time_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index 852139fb7f7b3..924e6d62d6aba 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -1,7 +1,7 @@ autoware_remaining_distance_time_calculator - 0.38.0 + 0.40.0 Calculates and publishes remaining distance and time of the mission. Ahmed Ebrahim diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst index 9b5b4a5efd159..d70e5897c96b5 100644 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_route_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml index 1ad0529f971c5..ededbcc9eef3d 100644 --- a/planning/autoware_route_handler/package.xml +++ b/planning/autoware_route_handler/package.xml @@ -2,7 +2,7 @@ autoware_route_handler - 0.38.0 + 0.40.0 The route_handling package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index ec5f7bb5e0080..01e52d85f01c3 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -35,9 +35,11 @@ #include #include +#include #include #include #include +#include #include #include #include diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp index 1a9359dc8e17d..1b15b539e2001 100644 --- a/planning/autoware_route_handler/test/test_route_handler.hpp +++ b/planning/autoware_route_handler/test/test_route_handler.hpp @@ -31,6 +31,7 @@ #include +#include #include #include namespace autoware::route_handler::test @@ -45,7 +46,11 @@ class TestRouteHandler : public ::testing::Test TestRouteHandler() { set_route_handler("2km_test.osm"); - set_test_route(lane_change_right_test_route_filename); + try { + set_test_route(lane_change_right_test_route_filename); + } catch (const std::exception & e) { + std::cerr << e.what() << '\n'; + } } TestRouteHandler(const TestRouteHandler &) = delete; @@ -68,7 +73,14 @@ class TestRouteHandler : public ::testing::Test { const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, route_filename); - route_handler_->setRoute(autoware::test_utils::parse(rh_test_route)); + if ( + const auto route_opt = + autoware::test_utils::parse>(rh_test_route)) { + route_handler_->setRoute(*route_opt); + } else { + throw std::runtime_error( + "Failed to parse YAML file: " + rh_test_route + ". The file might be corrupted."); + } } lanelet::ConstLanelets get_current_lanes() diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index 71224eefc2747..11672d2c47e3e 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -2,6 +2,68 @@ Changelog for package autoware_rtc_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_rtc_interface): fix dependency (`#9237 `_) +* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- +* feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_rtc_interface): fix dependency (`#9237 `_) +* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- +* feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index 3479ae18825e9..861554e81408e 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -1,7 +1,7 @@ autoware_rtc_interface - 0.38.0 + 0.40.0 The autoware_rtc_interface package Fumiya Watanabe diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp index 6b3a6c7406d39..47bc278c30564 100644 --- a/planning/autoware_rtc_interface/src/rtc_interface.cpp +++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp @@ -14,6 +14,9 @@ #include "autoware/rtc_interface/rtc_interface.hpp" +#include +#include + namespace { using tier4_rtc_msgs::msg::Module; diff --git a/planning/autoware_rtc_interface/test/test_rtc_interface.cpp b/planning/autoware_rtc_interface/test/test_rtc_interface.cpp index 69efae3987677..d4b0195186282 100644 --- a/planning/autoware_rtc_interface/test/test_rtc_interface.cpp +++ b/planning/autoware_rtc_interface/test/test_rtc_interface.cpp @@ -22,6 +22,9 @@ #include +#include +#include + using tier4_rtc_msgs::msg::State; namespace autoware::rtc_interface diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index 642e823ea9236..877192f0e68f9 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_scenario_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) + * discretize updating grid center position by size of grid resolution + * modify logic for switching to lane driving in scenario selector + * fix spelling + --------- +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, mkquda + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index 6579427273df5..e726e40acecce 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -2,7 +2,7 @@ autoware_scenario_selector - 0.38.0 + 0.40.0 The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp index eb3303766205f..4bb64e27368d8 100644 --- a/planning/autoware_scenario_selector/src/node.cpp +++ b/planning/autoware_scenario_selector/src/node.cpp @@ -14,6 +14,7 @@ #include "autoware/scenario_selector/node.hpp" +#include #include #include @@ -65,6 +66,22 @@ bool isInLane( return dist_to_nearest_lanelet < margin; } +bool isAlongLane( + const std::shared_ptr & route_handler, + const geometry_msgs::msg::Pose & current_pose) +{ + lanelet::ConstLanelet closest_lanelet; + if (!route_handler->getClosestLaneletWithConstrainsWithinRoute( + current_pose, &closest_lanelet, 0.0, M_PI_4)) { + return false; + } + const lanelet::BasicPoint2d src_point(current_pose.position.x, current_pose.position.y); + const auto dist_to_centerline = + lanelet::geometry::distanceToCenterline2d(closest_lanelet, src_point); + static constexpr double margin = 1.0; + return dist_to_centerline < margin; +} + bool isInParkingLot( const std::shared_ptr & lanelet_map_ptr, const geometry_msgs::msg::Pose & current_pose) @@ -215,10 +232,9 @@ bool ScenarioSelectorNode::isSwitchToParking(const bool is_stopped) bool ScenarioSelectorNode::isSwitchToLaneDriving() { - const auto is_in_lane = - isInLane(route_handler_->getLaneletMapPtr(), current_pose_->pose.pose.position); + const auto is_along_lane = isAlongLane(route_handler_, current_pose_->pose.pose); - if (!isEmptyParkingTrajectory() || !is_in_lane) { + if (!isEmptyParkingTrajectory() || !is_along_lane) { empty_parking_trajectory_time_ = {}; return false; } diff --git a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp index 3d5da19cbabbc..ef9af48967a11 100644 --- a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp +++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::scenario_selector { diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst index efb482f3f33e1..0338cdc8b66bb 100644 --- a/planning/autoware_static_centerline_generator/CHANGELOG.rst +++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst @@ -2,6 +2,73 @@ Changelog for package autoware_static_centerline_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(static_centerline_generator): several bug fixes (`#9426 `_) + * fix: dependent packages + * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously + * fix cppcheck + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(static_centerline_generator): map_tf_generator package name needs update (`#9383 `_) + fix map_tf_generator name in autoware_static_centerline_generator.launch +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zhanhong Yan + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 7d97caf4b375f..0590009ab378c 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -35,7 +35,7 @@ - + @@ -48,7 +48,7 @@ - + diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index fb0b821e87644..cea18e5605921 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -2,7 +2,7 @@ autoware_static_centerline_generator - 0.38.0 + 0.40.0 The autoware_static_centerline_generator package Takayuki Murooka Kosuke Takeuchi @@ -17,11 +17,14 @@ autoware_behavior_path_planner_common autoware_geography_utils + autoware_global_parameter_loader autoware_interpolation autoware_lanelet2_extension + autoware_lanelet2_map_visualizer autoware_map_loader autoware_map_msgs autoware_map_projection_loader + autoware_map_tf_generator autoware_mission_planner autoware_motion_utils autoware_osqp_interface @@ -33,10 +36,8 @@ autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - global_parameter_loader rclcpp rclcpp_components - tier4_map_msgs python3-flask-cors rosidl_default_runtime diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp index cbfcac5789812..dc950f190652b 100644 --- a/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp @@ -22,6 +22,7 @@ #include #include +#include namespace autoware::static_centerline_generator { diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp index 1f72dea1cd35f..51725fb8a3799 100644 --- a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp @@ -23,6 +23,7 @@ #include "utils.hpp" #include +#include namespace autoware::static_centerline_generator { diff --git a/planning/autoware_static_centerline_generator/src/main.cpp b/planning/autoware_static_centerline_generator/src/main.cpp index 5afc7e58ba52b..811d57c6036ef 100644 --- a/planning/autoware_static_centerline_generator/src/main.cpp +++ b/planning/autoware_static_centerline_generator/src/main.cpp @@ -14,6 +14,9 @@ #include "static_centerline_generator_node.hpp" +#include +#include + int main(int argc, char * argv[]) { rclcpp::init(argc, argv); diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 398edc215da3e..f172e3e0cb1cd 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -14,13 +14,14 @@ #include "static_centerline_generator_node.hpp" -#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" +#include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/parameter.hpp" #include "autoware_lanelet2_extension/utility/message_conversion.hpp" #include "autoware_lanelet2_extension/utility/query.hpp" @@ -51,6 +52,7 @@ #include #include #include +#include #include #include #include @@ -58,6 +60,7 @@ #define RESET_TEXT "\x1B[0m" #define RED_TEXT "\x1B[31m" +#define YELLOW_TEXT "\x1b[33m" #define BOLD_TEXT "\x1B[1m" namespace autoware::static_centerline_generator @@ -625,10 +628,8 @@ void StaticCenterlineGeneratorNode::validate() } // calculate curvature - autoware::interpolation::SplineInterpolationPoints2d centerline_spline(centerline); - const auto curvature_vec = centerline_spline.getSplineInterpolatedCurvatures(); - const double curvature_threshold = vehicle_info_.calcCurvatureFromSteerAngle( - vehicle_info_.max_steer_angle_rad - max_steer_angle_margin); + const auto curvature_vec = autoware::motion_utils::calcCurvature(centerline); + const double steer_angle_threshold = vehicle_info_.max_steer_angle_rad - max_steer_angle_margin; // calculate the distance between footprint and right/left bounds MarkerArray marker_array; @@ -675,6 +676,7 @@ void StaticCenterlineGeneratorNode::validate() max_curvature = std::abs(curvature); } } + const double max_steer_angle = vehicle_info_.calcSteerAngleFromCurvature(max_curvature); // publish road boundaries const auto left_bound = convertToGeometryPoints(lanelet_left_bound); @@ -692,30 +694,36 @@ void StaticCenterlineGeneratorNode::validate() std::cerr << "1. Footprints inside Lanelets:" << std::endl; if (dist_thresh_to_road_border < min_dist) { std::cerr << " The generated centerline is inside the lanelet. (threshold:" - << dist_thresh_to_road_border << " < actual:" << min_dist << ")" << std::endl + << dist_thresh_to_road_border << "[m] < actual:" << min_dist << "[m])" << std::endl << " Passed." << std::endl; return true; } std::cerr << RED_TEXT << " The generated centerline is outside the lanelet. (actual:" << min_dist - << " <= threshold:" << dist_thresh_to_road_border << ")" << std::endl + << "[m] <= threshold:" << dist_thresh_to_road_border << "[m])" << std::endl << " Failed." << RESET_TEXT << std::endl; return false; }(); // 2. centerline's curvature - const bool is_curvature_low = [&]() { - std::cerr << "2. Curvature:" << std::endl; - if (max_curvature < curvature_threshold) { - std::cerr << " The generated centerline has no high curvature. (actual:" << max_curvature - << " < threshold:" << curvature_threshold << ")" - << " Passed." << std::endl; - return true; - } - std::cerr << RED_TEXT << " The generated centerline has a too high curvature. (threshold:" - << curvature_threshold << " <= actual:" << max_curvature << ")" - << " Failed." << RESET_TEXT << std::endl; - return false; - }(); + std::cerr << "2. Curvature:" << std::endl; + const bool is_curvature_low = + true; // always tre for now since the curvature is just estimated and not enough precise. + if (max_steer_angle < steer_angle_threshold) { + std::cerr << " The generated centerline has no high steer angle. (estimated:" + << autoware::universe_utils::rad2deg(max_steer_angle) + << "[deg] < threshold:" << autoware::universe_utils::rad2deg(steer_angle_threshold) + << "[deg])" << std::endl + << " Passed." << std::endl; + } else { + std::cerr << YELLOW_TEXT << " The generated centerline has a too high steer angle. (threshold:" + << autoware::universe_utils::rad2deg(steer_angle_threshold) + << "[deg] <= estimated:" << autoware::universe_utils::rad2deg(max_steer_angle) + << "[deg])" << std::endl + << " However, the estimated steer angle is not enough precise, so the result is " + "conditional pass." + << std::endl + << " Conditionally Passed." << RESET_TEXT << std::endl; + } // 3. result std::cerr << std::endl << BOLD_TEXT << "Result:" << RESET_TEXT << std::endl; if (are_footprints_inside_lanelets && is_curvature_low) { diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index 17abb3e446994..c591dcfc73bd8 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -24,10 +24,10 @@ #include "rclcpp/rclcpp.hpp" #include "type_alias.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include "std_msgs/msg/empty.hpp" #include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" -#include "tier4_map_msgs/msg/map_projector_info.hpp" #include #include @@ -36,10 +36,10 @@ namespace autoware::static_centerline_generator { +using autoware_map_msgs::msg::MapProjectorInfo; using autoware_static_centerline_generator::srv::LoadMap; using autoware_static_centerline_generator::srv::PlanPath; using autoware_static_centerline_generator::srv::PlanRoute; -using tier4_map_msgs::msg::MapProjectorInfo; struct CenterlineWithRoute { diff --git a/planning/autoware_static_centerline_generator/src/utils.cpp b/planning/autoware_static_centerline_generator/src/utils.cpp index c045a50fec0d7..f84fe79cec288 100644 --- a/planning/autoware_static_centerline_generator/src/utils.cpp +++ b/planning/autoware_static_centerline_generator/src/utils.cpp @@ -23,7 +23,10 @@ #include #include +#include +#include #include +#include namespace autoware::static_centerline_generator { diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index 5a9105c869042..c6e1a13a59aa2 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_surround_obstacle_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* fix(surround_obstacle_checker)!: remove stop reason (`#9450 `_) + fix(surround_obstacle_checker): remove stop reason +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (`#9399 `_) + * fix: clang-diagnostic-unused-private-field + * refactor: fmt + * refactor: fmt + * refactor: fmt + * fix: hpp + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index e8c1ca6e9eb34..4a6f946b8eb90 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -2,7 +2,7 @@ autoware_surround_obstacle_checker - 0.38.0 + 0.40.0 The autoware_surround_obstacle_checker package Satoshi Ota Go Sakayori diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp index 6a5883fbd660d..bbd1cac04ed89 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp @@ -17,6 +17,8 @@ #include #include #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 1a938a9275df5..0adca312ca733 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -32,6 +32,7 @@ #include #include +#include #ifdef ROS_DISTRO_GALACTIC #include #else @@ -378,8 +379,8 @@ std::optional SurroundObstacleCheckerNode: auto SurroundObstacleCheckerNode::isStopRequired( const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state, - const std::optional & last_obstacle_found_time, - const double time_threshold) const -> std::pair> + const std::optional & last_obstacle_found_time, const double time_threshold) const + -> std::pair> { if (!is_vehicle_stopped) { return std::make_pair(false, std::nullopt); diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index 17eb2979e6809..f84ad3a8f5987 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -89,8 +89,8 @@ class SurroundObstacleCheckerNode : public rclcpp::Node auto isStopRequired( const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state, - const std::optional & last_obstacle_found_time, - const double time_threshold) const -> std::pair>; + const std::optional & last_obstacle_found_time, const double time_threshold) const + -> std::pair>; // ros mutable tf2_ros::Buffer tf_buffer_{get_clock()}; diff --git a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp index c5fbb7958208d..3951532ed0df0 100644 --- a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp +++ b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp @@ -20,6 +20,9 @@ #include +#include +#include + namespace autoware::surround_obstacle_checker { auto generateTestTargetNode() -> std::shared_ptr @@ -48,8 +51,8 @@ class SurroundObstacleCheckerNodeTest : public ::testing::Test auto isStopRequired( const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state, - const std::optional & last_obstacle_found_time, - const double time_threshold) const -> std::pair> + const std::optional & last_obstacle_found_time, const double time_threshold) const + -> std::pair> { return node_->isStopRequired( is_obstacle_found, is_vehicle_stopped, state, last_obstacle_found_time, time_threshold); diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index 33aa32d835398..4655c9658ef2b 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_velocity_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) + * change max acceleration and max jerk according to external velocity request + * modify external velocity limit selector + * fix external velocity limit selector + * fix format + --------- +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index 3f1c313e052da..069363d2f65e0 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -164,10 +164,17 @@ class VelocitySmootherNode : public rclcpp::Node bool plan_from_ego_speed_on_manual_mode = true; } node_param_{}; + struct AccelerationRequest + { + bool request{false}; + double max_acceleration{0.0}; + double max_jerk{0.0}; + }; struct ExternalVelocityLimit { double velocity{0.0}; // current external_velocity_limit double dist{0.0}; // distance to set external velocity limit + AccelerationRequest acceleration_request; std::string sender{""}; }; ExternalVelocityLimit diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp index 7206a64ea32eb..d51431383f88a 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp @@ -83,6 +83,8 @@ class SmootherBase double getMinJerk() const; void setWheelBase(const double wheel_base); + void setMaxAccel(const double max_acceleration); + void setMaxJerk(const double max_jerk); void setParam(const BaseParam & param); BaseParam getBaseParam() const; diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index e0e028656e8be..96462602d8da0 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -2,7 +2,7 @@ autoware_velocity_smoother - 0.38.0 + 0.40.0 The autoware_velocity_smoother package Fumiya Watanabe diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index a358a1b61c11b..1e0f6119ac21e 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include // clang-format on @@ -319,6 +320,7 @@ void VelocitySmootherNode::calcExternalVelocityLimit() autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!external_velocity_limit_ptr_) { + external_velocity_limit_.acceleration_request.request = false; return; } @@ -342,6 +344,20 @@ void VelocitySmootherNode::calcExternalVelocityLimit() external_velocity_limit_.dist = 0.0; } + const auto base_max_acceleration = get_parameter("normal.max_acc").as_double(); + const auto acceleration_request = + external_velocity_limit_ptr_->use_constraints && + base_max_acceleration < external_velocity_limit_ptr_->constraints.max_acceleration; + if ( + acceleration_request && + current_odometry_ptr_->twist.twist.linear.x < external_velocity_limit_ptr_->max_velocity) { + external_velocity_limit_.acceleration_request.request = true; + external_velocity_limit_.acceleration_request.max_acceleration = + external_velocity_limit_ptr_->constraints.max_acceleration; + external_velocity_limit_.acceleration_request.max_jerk = + external_velocity_limit_ptr_->constraints.max_jerk; + } + // calculate distance and maximum velocity // to decelerate to external velocity limit with jerk and acceleration // constraints. @@ -627,6 +643,18 @@ bool VelocitySmootherNode::smoothVelocity( clipped.insert( clipped.end(), traj_resampled.begin() + traj_resampled_closest, traj_resampled.end()); + // Set maximum acceleration before applying smoother. Depends on acceleration request from + // external velocity limit + const double smoother_max_acceleration = + external_velocity_limit_.acceleration_request.request + ? external_velocity_limit_.acceleration_request.max_acceleration + : get_parameter("normal.max_acc").as_double(); + const double smoother_max_jerk = external_velocity_limit_.acceleration_request.request + ? external_velocity_limit_.acceleration_request.max_jerk + : get_parameter("normal.max_jerk").as_double(); + smoother_->setMaxAccel(smoother_max_acceleration); + smoother_->setMaxJerk(smoother_max_jerk); + std::vector debug_trajectories; if (!smoother_->apply( initial_motion.vel, initial_motion.acc, clipped, traj_smoothed, debug_trajectories, @@ -791,12 +819,15 @@ std::pair VelocitySmootherNode::ca "calcInitialMotion : vehicle speed is low (%.3f), and desired speed is high (%.3f). Use " "engage speed (%.3f) until vehicle speed reaches engage_vel_thr (%.3f). stop_dist = %.3f", vehicle_speed, target_vel, node_param_.engage_velocity, engage_vel_thr, stop_dist); - Motion initial_motion = {node_param_.engage_velocity, node_param_.engage_acceleration}; + const double engage_acceleration = + external_velocity_limit_.acceleration_request.request + ? external_velocity_limit_.acceleration_request.max_acceleration + : node_param_.engage_acceleration; + Motion initial_motion = {node_param_.engage_velocity, engage_acceleration}; return {initial_motion, InitializeType::ENGAGING}; - } else { - RCLCPP_DEBUG( - get_logger(), "calcInitialMotion : stop point is close (%.3f[m]). no engage.", stop_dist); } + RCLCPP_DEBUG( + get_logger(), "calcInitialMotion : stop point is close (%.3f[m]). no engage.", stop_dist); } else if (target_vel > 0.0) { RCLCPP_WARN_THROTTLE( get_logger(), *clock_, 3000, diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp index 213e70283f9b1..fcbcde84fe1ea 100644 --- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp @@ -19,6 +19,7 @@ #include "autoware/velocity_smoother/trajectory_utils.hpp" #include +#include #include #include #include diff --git a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp index b218a662de175..0f61171a3bb70 100644 --- a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp @@ -22,7 +22,9 @@ #include #include #include +#include #include +#include #include #include diff --git a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp index 678c8e01bf67e..3280512376a58 100644 --- a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp index 60345ff0fa6f4..eaad896562ccd 100644 --- a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp index 46faf10fe4a62..e4271a9c387de 100644 --- a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp @@ -24,6 +24,8 @@ #include #include +#include +#include #include namespace autoware::velocity_smoother @@ -97,6 +99,16 @@ void SmootherBase::setWheelBase(const double wheel_base) base_param_.wheel_base = wheel_base; } +void SmootherBase::setMaxAccel(const double max_acceleration) +{ + base_param_.max_accel = max_acceleration; +} + +void SmootherBase::setMaxJerk(const double max_jerk) +{ + base_param_.max_jerk = max_jerk; +} + void SmootherBase::setParam(const BaseParam & param) { base_param_ = param; diff --git a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp index d384c319ee361..b590af1b3ee0a 100644 --- a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp +++ b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::planning_test_manager::PlanningInterfaceTestManager; diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index aa4bfb81d81db..0b2d004e1f02b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index 77ebb1e160644..83c361d064fb0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_avoidance_by_lane_change_module - 0.38.0 + 0.40.0 The behavior_path_avoidance_by_lane_change_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index 0e0b0fcf63933..3080ba1045b41 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -19,6 +19,7 @@ #include #include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 991b5c8af656d..7e4bc4d5ba6ac 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -31,6 +31,7 @@ #include #include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index cdefc7f82125a..f679efacb6a44 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 9f25d197cc113..5b5179f250d8d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index 33d33119602f5..44b56f4ea0990 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -28,6 +28,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 7849278a16f1a..e3aefb01c797d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_dynamic_obstacle_avoidance_module - 0.38.0 + 0.40.0 The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index c162170ae5eb0..dc7efebe88fba 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -36,6 +36,8 @@ #include #include #include +#include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index fc0fac5ff7b9d..a18a2440dcb3a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index 501e950312718..0a315105e5bf1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml index c09f34bf53574..af46393d9b9ae 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_external_request_lane_change_module - 0.38.0 + 0.40.0 The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index c04914ed1c72b..45c997f364633 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -17,6 +17,8 @@ #include "autoware/behavior_path_lane_change_module/interface.hpp" #include "scene.hpp" +#include + namespace autoware::behavior_path_planner { using autoware::behavior_path_planner::LaneChangeInterface; diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 4a5fb562eb140..ad37a90605233 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index 3617b609cc31c..627f216b6d7c9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -2,6 +2,105 @@ Changelog for package autoware_behavior_path_goal_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(goal_planner): fix isStopped judgement (`#9585 `_) + * fix(goal_planner): fix isStopped judgement + * fix typo + --------- +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(goal_planner): check opposite lane for lane departure_check (`#9460 `_) + * feat(goal_planner): check opposite lane for lane departure_check + * refactor getMostInnerLane + --------- +* refactor(goal_planner): improve log message and change level (`#9562 `_) + Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(goal_planner): move PathDecisionController implementation to a different file (`#9523 `_) + refactor(goal_planner): move decision_state implementation +* refactor(goal_planner): move unnecessary member functions (`#9522 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(goal_planner): fix multiple lane ids of shift pull over (`#9360 `_) + fix vel +* fix(goal_planner): remove stop reason (`#9365 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(goal_planner): use departure_check_lane for path (`#9423 `_) +* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) +* feat(goal_planner): do not insert shift end pose on pull over lane to path (`#9361 `_) +* feat(goal_planner): remove unnecessary member from ThreadSafeData (`#9393 `_) +* feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData (`#9292 `_) +* feat(goal_planner): output velocity factor (`#9348 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) +* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, stevenbrills + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) +* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt index d3f7f7a4015f0..8e945093659c1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt @@ -19,6 +19,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/util.cpp src/goal_planner_module.cpp src/manager.cpp + src/decision_state.cpp ) if(BUILD_EXAMPLES) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp index af64dc5220010..40c2bd201abc7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp @@ -41,9 +41,17 @@ #include #include +#include #include #include +#include #include +#include +#include +#include +#include +#include +#include using namespace std::chrono_literals; // NOLINT diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 5d7fe103a9346..5e6afa16d1f9f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -84,29 +84,6 @@ struct LastApprovalData Pose pose{}; }; -// store stop_pose_ pointer with reason string -struct PoseWithString -{ - std::optional * pose; - std::string string; - - explicit PoseWithString(std::optional * shared_pose) : pose(shared_pose), string("") {} - - void set(const Pose & new_pose, const std::string & new_string) - { - *pose = new_pose; - string = new_string; - } - - void set(const std::string & new_string) { string = new_string; } - - void clear() - { - pose->reset(); - string = ""; - } -}; - struct PullOverContextData { PullOverContextData() = delete; @@ -135,6 +112,44 @@ struct PullOverContextData std::optional last_path_idx_increment_time; }; +bool isOnModifiedGoal( + const Pose & current_pose, const std::optional & modified_goal_opt, + const GoalPlannerParameters & parameters); + +bool hasPreviousModulePathShapeChanged( + const BehaviorModuleOutput & previous_module_output, + const BehaviorModuleOutput & last_previous_module_output); +bool hasDeviatedFromLastPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & last_previous_module_output); +bool hasDeviatedFromCurrentPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & previous_module_output); + +bool needPathUpdate( + const Pose & current_pose, const double path_update_duration, const rclcpp::Time & now, + const std::optional & modified_goal, + const std::optional & selected_time, const GoalPlannerParameters & parameters); + +bool checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map); + +bool isStopped( + std::deque & odometry_buffer, + const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower, + const double velocity_upper); + +// Flag class for managing whether a certain callback is running in multi-threading +class ScopedFlag +{ +public: + explicit ScopedFlag(std::atomic & flag) : flag_(flag) { flag_.store(true); } + + ~ScopedFlag() { flag_.store(false); } + +private: + std::atomic & flag_; +}; + class GoalPlannerModule : public SceneModuleInterface { public: @@ -193,18 +208,6 @@ class GoalPlannerModule : public SceneModuleInterface void processOnExit() override; void updateData() override; - void updateEgoPredictedPathParams( - std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & goal_planner_params); - - void updateSafetyCheckParams( - std::shared_ptr & safety_check_params, - const std::shared_ptr & goal_planner_params); - - void updateObjectsFilteringParams( - std::shared_ptr & objects_filtering_params, - const std::shared_ptr & goal_planner_params); - void postProcess() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( @@ -257,18 +260,6 @@ class GoalPlannerModule : public SceneModuleInterface std::optional gp_planner_data_{std::nullopt}; std::mutex gp_planner_data_mutex_; - // Flag class for managing whether a certain callback is running in multi-threading - class ScopedFlag - { - public: - explicit ScopedFlag(std::atomic & flag) : flag_(flag) { flag_.store(true); } - - ~ScopedFlag() { flag_.store(false); } - - private: - std::atomic & flag_; - }; - /* * state transitions and plan function used in each state * @@ -357,12 +348,6 @@ class GoalPlannerModule : public SceneModuleInterface // debug mutable GoalPlannerDebugData debug_data_; - mutable PoseWithString debug_stop_pose_with_info_; - - // collision check - bool checkOccupancyGridCollision( - const PathWithLaneId & path, - const std::shared_ptr occupancy_grid_map) const; // goal seach GoalCandidates generateGoalCandidates() const; @@ -372,26 +357,18 @@ class GoalPlannerModule : public SceneModuleInterface void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart( const Pose & search_start_offset_pose, PathWithLaneId & path) const; - PathWithLaneId generateStopPath(const PullOverContextData & context_data) const; - PathWithLaneId generateFeasibleStopPath(const PathWithLaneId & path) const; + PathWithLaneId generateStopPath( + const PullOverContextData & context_data, const std::string & detail) const; + PathWithLaneId generateFeasibleStopPath( + const PathWithLaneId & path, const std::string & detail) const; void keepStoppedWithCurrentPath( const PullOverContextData & ctx_data, PathWithLaneId & path) const; double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const; // status - bool isStopped(); - bool isStopped( - std::deque & odometry_buffer, const double time); bool hasFinishedCurrentPath(const PullOverContextData & ctx_data); - bool isOnModifiedGoal( - const Pose & current_pose, const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const; double calcModuleRequestLength() const; - bool needPathUpdate( - const Pose & current_pose, const double path_update_duration, - const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const; bool isStuck( const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, const std::shared_ptr planner_data, @@ -421,7 +398,8 @@ class GoalPlannerModule : public SceneModuleInterface // plan pull over path BehaviorModuleOutput planPullOver(const PullOverContextData & context_data); BehaviorModuleOutput planPullOverAsOutput(const PullOverContextData & context_data); - BehaviorModuleOutput planPullOverAsCandidate(const PullOverContextData & context_data); + BehaviorModuleOutput planPullOverAsCandidate( + const PullOverContextData & context_data, const std::string & detail); std::optional selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, @@ -443,16 +421,6 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(const PullOverContextData & context_data); std::optional ignore_signal_{std::nullopt}; - bool hasPreviousModulePathShapeChanged( - const BehaviorModuleOutput & previous_module_output, - const BehaviorModuleOutput & last_previous_module_output) const; - bool hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & last_previous_module_output) const; - bool hasDeviatedFromCurrentPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & previous_module_output) const; - // timer for generating pull over path candidates in a separate thread void onTimer(); void onFreespaceParkingTimer(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml index 30d3c96aa6c87..dead1e4fe0f37 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_goal_planner_module - 0.38.0 + 0.40.0 The autoware_behavior_path_goal_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp new file mode 100644 index 0000000000000..1a4a6e5a25589 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp @@ -0,0 +1,190 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_goal_planner_module/util.hpp" + +#include +#include + +#include +#include + +namespace autoware::behavior_path_planner +{ + +using autoware::motion_utils::calcSignedArcLength; + +void PathDecisionStateController::transit_state( + const bool found_pull_over_path, const rclcpp::Time & now, + const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, + const std::optional modified_goal_opt, + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const bool is_current_safe, const GoalPlannerParameters & parameters, + const std::shared_ptr goal_searcher, const bool is_activated, + const std::optional & pull_over_path, + std::vector & ego_polygons_expanded) +{ + const auto next_state = get_next_state( + found_pull_over_path, now, static_target_objects, dynamic_target_objects, modified_goal_opt, + planner_data, occupancy_grid_map, is_current_safe, parameters, goal_searcher, is_activated, + pull_over_path, ego_polygons_expanded); + current_state_ = next_state; +} + +PathDecisionState PathDecisionStateController::get_next_state( + const bool found_pull_over_path, const rclcpp::Time & now, + const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, + const std::optional modified_goal_opt, + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const bool is_current_safe, const GoalPlannerParameters & parameters, + const std::shared_ptr goal_searcher, const bool is_activated, + const std::optional & pull_over_path_opt, + std::vector & ego_polygons_expanded) const +{ + auto next_state = current_state_; + + // update safety + if (!parameters.safety_check_params.enable_safety_check) { + next_state.is_stable_safe = true; + } else { + if (is_current_safe) { + if (!next_state.safe_start_time) { + next_state.safe_start_time = now; + next_state.is_stable_safe = false; + } else { + next_state.is_stable_safe = + ((now - next_state.safe_start_time.value()).seconds() > + parameters.safety_check_params.keep_unsafe_time); + } + } else { + next_state.safe_start_time = std::nullopt; + next_state.is_stable_safe = false; + } + } + + // Once this function returns true, it will continue to return true thereafter + if (next_state.state == PathDecisionState::DecisionKind::DECIDED) { + return next_state; + } + + // if path is not safe, not decided + if (!found_pull_over_path || !pull_over_path_opt) { + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + const auto & pull_over_path = pull_over_path_opt.value(); + const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; + // If it is dangerous against dynamic objects before approval, do not determine the path. + // This eliminates a unsafe path to be approved + if (enable_safety_check && !next_state.is_stable_safe && !is_activated) { + RCLCPP_DEBUG( + logger_, + "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " + "approval"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + const auto & current_path = pull_over_path.getCurrentPath(); + if (current_state_.state == PathDecisionState::DecisionKind::DECIDING) { + const double hysteresis_factor = 0.9; + + // check goal pose collision + if ( + modified_goal_opt && !goal_searcher->isSafeGoalWithMarginScaleFactor( + modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, + planner_data, static_target_objects)) { + RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + next_state.deciding_start_time = std::nullopt; + return next_state; + } + + // check current parking path collision + const auto & parking_path = pull_over_path.parking_path(); + const auto & parking_path_curvatures = pull_over_path.parking_path_curvatures(); + const double margin = + parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; + if (goal_planner_utils::checkObjectsCollision( + parking_path, parking_path_curvatures, static_target_objects, dynamic_target_objects, + planner_data->parameters, margin, + /*extract_static_objects=*/false, parameters.maximum_deceleration, + parameters.object_recognition_collision_check_max_extra_stopping_margin, + ego_polygons_expanded, true)) { + RCLCPP_DEBUG( + logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + next_state.deciding_start_time = std::nullopt; + return next_state; + } + + if (enable_safety_check && !next_state.is_stable_safe) { + RCLCPP_DEBUG( + logger_, + "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + // if enough time has passed since deciding status starts, transition to DECIDED + constexpr double check_collision_duration = 1.0; + const double elapsed_time_from_deciding = + (now - current_state_.deciding_start_time.value()).seconds(); + if (elapsed_time_from_deciding > check_collision_duration) { + RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->DECIDED. has enough safe time passed"); + next_state.state = PathDecisionState::DecisionKind::DECIDED; + next_state.deciding_start_time = std::nullopt; + return next_state; + } + + // if enough time has NOT passed since deciding status starts, keep DECIDING + RCLCPP_DEBUG( + logger_, "[DecidingPathStatus]: keep DECIDING. elapsed_time_from_deciding: %f", + elapsed_time_from_deciding); + return next_state; + } + + // if ego is sufficiently close to the start of the nearest candidate path, the path is decided + const auto & current_pose = planner_data->self_odometry->pose.pose; + const size_t ego_segment_idx = + autoware::motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); + + const size_t start_pose_segment_idx = autoware::motion_utils::findNearestSegmentIndex( + current_path.points, pull_over_path.start_pose().position); + const double dist_to_parking_start_pose = calcSignedArcLength( + current_path.points, current_pose.position, ego_segment_idx, + pull_over_path.start_pose().position, start_pose_segment_idx); + if (dist_to_parking_start_pose > parameters.decide_path_distance) { + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + // if object recognition for path collision check is enabled, transition to DECIDING to check + // collision for a certain period of time. Otherwise, transition to DECIDED directly. + if (parameters.use_object_recognition) { + RCLCPP_DEBUG( + logger_, + "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " + "period of time"); + next_state.state = PathDecisionState::DecisionKind::DECIDING; + next_state.deciding_start_time = now; + return next_state; + } + return {PathDecisionState::DecisionKind::DECIDED, std::nullopt}; +} + +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index fed42be0753d7..e1f667d91b692 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -28,7 +28,6 @@ #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "autoware/universe_utils/math/unit_conversion.hpp" #include #include @@ -38,10 +37,15 @@ #include #include +#include +#include #include +#include #include #include #include +#include +#include #include #include @@ -53,7 +57,6 @@ using autoware::motion_utils::insertDecelPoint; using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createMarkerColor; -using autoware::universe_utils::inverseTransformPose; using nav_msgs::msg::OccupancyGrid; namespace autoware::behavior_path_planner @@ -69,8 +72,7 @@ GoalPlannerModule::GoalPlannerModule( vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, thread_safe_data_{mutex_, clock_}, is_lane_parking_cb_running_{false}, - is_freespace_parking_cb_running_{false}, - debug_stop_pose_with_info_{&stop_pose_} + is_freespace_parking_cb_running_{false} { LaneDepartureChecker lane_departure_checker{}; lane_departure_checker.setVehicleInfo(vehicle_info_); @@ -100,7 +102,10 @@ GoalPlannerModule::GoalPlannerModule( } if (pull_over_planners_.empty()) { - RCLCPP_ERROR(getLogger(), "Not found enabled planner"); + RCLCPP_WARN( + getLogger(), + "No enabled planner found. The vehicle will stop in the road lane without pull over. Please " + "check the parameters if this is the intended behavior."); } // set selected goal searcher @@ -145,9 +150,27 @@ GoalPlannerModule::GoalPlannerModule( // time_keeper_->add_reporter(&std::cerr); } -bool GoalPlannerModule::hasPreviousModulePathShapeChanged( +bool isOnModifiedGoal( + const Pose & current_pose, const GoalCandidate & modified_goal, + const GoalPlannerParameters & parameters) +{ + return calcDistance2d(current_pose, modified_goal.goal_pose) < parameters.th_arrived_distance; +} + +bool isOnModifiedGoal( + const Pose & current_pose, const std::optional & modified_goal_opt, + const GoalPlannerParameters & parameters) +{ + if (!modified_goal_opt) { + return false; + } + + return isOnModifiedGoal(current_pose, modified_goal_opt.value(), parameters); +} + +bool hasPreviousModulePathShapeChanged( const BehaviorModuleOutput & previous_module_output, - const BehaviorModuleOutput & last_previous_module_output) const + const BehaviorModuleOutput & last_previous_module_output) { // Calculate the lateral distance between each point of the current path and the nearest point of // the last path @@ -180,25 +203,70 @@ bool GoalPlannerModule::hasPreviousModulePathShapeChanged( return false; } -bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & last_previous_module_output) const +bool hasDeviatedFromLastPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & last_previous_module_output) { return std::abs(autoware::motion_utils::calcLateralOffset( last_previous_module_output.path.points, - planner_data->self_odometry->pose.pose.position)) > 0.3; + planner_data.self_odometry->pose.pose.position)) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & previous_module_output) const +bool hasDeviatedFromCurrentPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & previous_module_output) { constexpr double LATERAL_DEVIATION_THRESH = 0.3; return std::abs(autoware::motion_utils::calcLateralOffset( - previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > + previous_module_output.path.points, planner_data.self_odometry->pose.pose.position)) > LATERAL_DEVIATION_THRESH; } +bool needPathUpdate( + const Pose & current_pose, const double path_update_duration, const rclcpp::Time & now, + const std::optional & modified_goal, + const std::optional & selected_time, const GoalPlannerParameters & parameters) +{ + const bool has_enough_time_passed = + selected_time ? (now - selected_time.value()).seconds() > path_update_duration : true; + return !isOnModifiedGoal(current_pose, modified_goal, parameters) && has_enough_time_passed; +} + +bool checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map) +{ + if (!occupancy_grid_map) { + return false; + } + const bool check_out_of_range = false; + return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); +} + +bool isStopped( + std::deque & odometry_buffer, + const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower, + const double velocity_upper) +{ + odometry_buffer.push_back(self_odometry); + // Delete old data in buffer_stuck_ + while (rclcpp::ok()) { + const auto time_diff = rclcpp::Time(odometry_buffer.back()->header.stamp) - + rclcpp::Time(odometry_buffer.front()->header.stamp); + if (time_diff.seconds() < duration_lower) { + break; + } + odometry_buffer.pop_front(); + } + bool is_stopped = true; + for (const auto & odometry : odometry_buffer) { + const double ego_vel = utils::l2Norm(odometry->twist.twist.linear); + if (ego_vel > velocity_upper) { + is_stopped = false; + break; + } + } + return is_stopped; +} + // generate pull over candidate paths void GoalPlannerModule::onTimer() { @@ -231,8 +299,8 @@ void GoalPlannerModule::onTimer() !local_planner_data || !current_status_opt || !previous_module_output_opt || !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || !goal_candidates_opt) { - RCLCPP_ERROR( - getLogger(), + RCLCPP_INFO_THROTTLE( + getLogger(), *clock_, 5000, "failed to get valid " "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt " "in onTimer"); @@ -273,7 +341,7 @@ void GoalPlannerModule::onTimer() local_planner_data->self_odometry->pose.pose, modified_goal_opt, parameters)) { return false; } - if (hasDeviatedFromCurrentPreviousModulePath(local_planner_data, previous_module_output)) { + if (hasDeviatedFromCurrentPreviousModulePath(*local_planner_data, previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path"); return false; } @@ -285,7 +353,7 @@ void GoalPlannerModule::onTimer() return true; } if ( - hasDeviatedFromLastPreviousModulePath(local_planner_data, last_previous_module_output) && + hasDeviatedFromLastPreviousModulePath(*local_planner_data, last_previous_module_output) && current_state != PathDecisionState::DecisionKind::DECIDED) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; @@ -397,8 +465,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() if ( !local_planner_data || !current_status_opt || !occupancy_grid_map || !parameters_opt || !vehicle_footprint_opt || !goal_candidates_opt) { - RCLCPP_ERROR( - getLogger(), + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, "failed to get valid planner_data/current_status/parameters in " "onFreespaceParkingTimer"); return; @@ -464,8 +532,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() parameters) && is_new_costmap && needPathUpdate( - local_planner_data->self_odometry->pose.pose, path_update_duration, modified_goal_opt, - parameters)) { + local_planner_data->self_odometry->pose.pose, path_update_duration, clock_->now(), + modified_goal_opt, thread_safe_data_.get_last_path_update_time(), parameters)) { auto goal_searcher = std::make_shared(parameters, vehicle_footprint); planFreespacePath( @@ -474,30 +542,6 @@ void GoalPlannerModule::onFreespaceParkingTimer() } } -void GoalPlannerModule::updateEgoPredictedPathParams( - std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & goal_planner_params) -{ - ego_predicted_path_params = - std::make_shared(goal_planner_params->ego_predicted_path_params); -} - -void GoalPlannerModule::updateSafetyCheckParams( - std::shared_ptr & safety_check_params, - const std::shared_ptr & goal_planner_params) -{ - safety_check_params = - std::make_shared(goal_planner_params->safety_check_params); -} - -void GoalPlannerModule::updateObjectsFilteringParams( - std::shared_ptr & objects_filtering_params, - const std::shared_ptr & goal_planner_params) -{ - objects_filtering_params = - std::make_shared(goal_planner_params->objects_filtering_params); -} - void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -640,9 +684,11 @@ void GoalPlannerModule::updateData() void GoalPlannerModule::initializeSafetyCheckParameters() { - updateEgoPredictedPathParams(ego_predicted_path_params_, parameters_); - updateSafetyCheckParams(safety_check_params_, parameters_); - updateObjectsFilteringParams(objects_filtering_params_, parameters_); + ego_predicted_path_params_ = + std::make_shared(parameters_->ego_predicted_path_params); + safety_check_params_ = std::make_shared(parameters_->safety_check_params); + objects_filtering_params_ = + std::make_shared(parameters_->objects_filtering_params); } void GoalPlannerModule::processOnExit() @@ -758,7 +804,9 @@ bool GoalPlannerModule::isExecutionReady() const // path_decision_controller.get_current_state() is valid if (parameters_->safety_check_params.enable_safety_check && isWaitingApproval()) { if (!path_decision_controller_.get_current_state().is_stable_safe) { - RCLCPP_ERROR_THROTTLE(getLogger(), *clock_, 5000, "Path is not safe against dynamic objects"); + RCLCPP_INFO_THROTTLE( + getLogger(), *clock_, 5000, + "Path is not safe against dynamic objects, so the candidate path is not approved."); return false; } } @@ -830,7 +878,9 @@ bool GoalPlannerModule::planFreespacePath( bool GoalPlannerModule::canReturnToLaneParking(const PullOverContextData & context_data) { // return only before starting free space parking - if (!isStopped()) { + if (!isStopped( + odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, + parameters_->th_stopped_velocity)) { return false; } @@ -901,7 +951,8 @@ BehaviorModuleOutput GoalPlannerModule::plan() if (utils::isAllowedGoalModification(planner_data_->route_handler)) { if (!context_data_) { - RCLCPP_ERROR(getLogger(), " [pull_over] plan() is called without valid context_data"); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, " [pull_over] plan() is called without valid context_data"); } else { const auto & context_data = context_data_.value(); return planPullOver(context_data); @@ -1185,8 +1236,9 @@ void GoalPlannerModule::setOutput( if (!context_data.pull_over_path_opt) { // situation : not safe against static objects use stop_path - output.path = generateStopPath(context_data); - RCLCPP_WARN_THROTTLE( + output.path = generateStopPath( + context_data, (goal_candidates_.empty() ? "no goal candidate" : "no static safe path")); + RCLCPP_INFO_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); setDrivableAreaInfo(context_data, output); return; @@ -1199,10 +1251,10 @@ void GoalPlannerModule::setOutput( // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints - output.path = generateFeasibleStopPath(pull_over_path.getCurrentPath()); - RCLCPP_WARN_THROTTLE( + output.path = + generateFeasibleStopPath(pull_over_path.getCurrentPath(), "unsafe against dynamic objects"); + RCLCPP_INFO_THROTTLE( getLogger(), *clock_, 5000, "Not safe against dynamic objects, generate stop path"); - debug_stop_pose_with_info_.set(std::string("feasible stop after approval")); } else { // situation : (safe against static and dynamic objects) or (safe against static objects and // before approval) don't stop @@ -1311,17 +1363,25 @@ BehaviorModuleOutput GoalPlannerModule::planPullOver(const PullOverContextData & { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - if ( - path_decision_controller_.get_current_state().state != - PathDecisionState::DecisionKind::DECIDED) { - return planPullOverAsCandidate(context_data); + const auto current_state = path_decision_controller_.get_current_state(); + if (current_state.state != PathDecisionState::DecisionKind::DECIDED) { + const bool is_stable_safe = current_state.is_stable_safe; + // clang-format off + const std::string detail = + goal_candidates_.empty() ? "no goal candidate" : + context_data.pull_over_path_candidates.empty() ? "no path candidate" : + !thread_safe_data_.foundPullOverPath() ? "no static safe path" : + !is_stable_safe ? "unsafe against dynamic objects" : + "too far goal"; + // clang-format on + return planPullOverAsCandidate(context_data, detail); } return planPullOverAsOutput(context_data); } BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( - const PullOverContextData & context_data) + const PullOverContextData & context_data, const std::string & detail) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1333,7 +1393,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); output.modified_goal = pull_over_output.modified_goal; - output.path = generateStopPath(context_data); + output.path = generateStopPath(context_data, detail); output.reference_path = getPreviousModuleOutput().reference_path; const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( @@ -1384,8 +1444,8 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( PathDecisionState::DecisionKind::NOT_DECIDED && !is_freespace && needPathUpdate( - planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, modified_goal_opt, - *parameters_)) { + planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, clock_->now(), + modified_goal_opt, thread_safe_data_.get_last_path_update_time(), *parameters_)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ @@ -1462,7 +1522,9 @@ void GoalPlannerModule::postProcess() universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!context_data_) { - RCLCPP_ERROR(getLogger(), " [pull_over] postProcess() is called without valid context_data"); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, + " [pull_over] postProcess() is called without valid context_data. use dummy context data."); } const auto context_data_dummy = PullOverContextData(true, PredictedObjects{}, PredictedObjects{}, std::nullopt, {}, {}); @@ -1500,11 +1562,13 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() if (utils::isAllowedGoalModification(planner_data_->route_handler)) { if (!context_data_) { - RCLCPP_ERROR( - getLogger(), " [pull_over] planWaitingApproval() is called without valid context_data"); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, + " [pull_over] planWaitingApproval() is called without valid context_data. use fixed goal " + "planner"); } else { const auto & context_data = context_data_.value(); - return planPullOverAsCandidate(context_data); + return planPullOverAsCandidate(context_data, "waiting approval"); } } @@ -1550,7 +1614,8 @@ void GoalPlannerModule::setParameters(const std::shared_ptr std::optional> { - if (context_data.pull_over_path_opt) { - return std::make_pair( - context_data.pull_over_path_opt.value().start_pose(), "stop at selected start pose"); - } - if (thread_safe_data_.get_closest_start_pose()) { - return std::make_pair( - thread_safe_data_.get_closest_start_pose().value(), "stop at closest start pose"); - } - if (!decel_pose) { - return std::nullopt; - } - return std::make_pair(decel_pose.value(), "stop at search start pose"); - }); - if (!stop_pose_with_info) { - const auto feasible_stop_path = generateFeasibleStopPath(getPreviousModuleOutput().path); - // override stop pose info debug string - debug_stop_pose_with_info_.set(std::string("feasible stop: not calculate stop pose")); + const auto stop_pose_opt = std::invoke([&]() -> std::optional { + if (context_data.pull_over_path_opt) + return context_data.pull_over_path_opt.value().start_pose(); + if (thread_safe_data_.get_closest_start_pose()) + return thread_safe_data_.get_closest_start_pose().value(); + if (!decel_pose) return std::nullopt; + return decel_pose.value(); + }); + if (!stop_pose_opt.has_value()) { + const auto feasible_stop_path = + generateFeasibleStopPath(getPreviousModuleOutput().path, detail); return feasible_stop_path; } - const Pose stop_pose = stop_pose_with_info->first; + const Pose stop_pose = stop_pose_opt.value(); // if stop pose is closer than min_stop_distance, stop as soon as possible const double ego_to_stop_distance = calcSignedArcLengthFromEgo(extended_prev_path, stop_pose); @@ -1631,16 +1688,15 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c const bool is_stopped = std::abs(current_vel) < eps_vel; const double buffer = is_stopped ? stop_distance_buffer_ : 0.0; if (min_stop_distance && ego_to_stop_distance + buffer < *min_stop_distance) { - const auto feasible_stop_path = generateFeasibleStopPath(getPreviousModuleOutput().path); - debug_stop_pose_with_info_.set( - std::string("feasible stop: stop pose is closer than min_stop_distance")); + const auto feasible_stop_path = + generateFeasibleStopPath(getPreviousModuleOutput().path, detail); return feasible_stop_path; } // slow down for turn signal, insert stop point to stop_pose auto stop_path = extended_prev_path; decelerateForTurnSignal(stop_pose, stop_path); - debug_stop_pose_with_info_.set(stop_pose, stop_pose_with_info->second); + stop_pose_ = PoseWithDetail(stop_pose, detail); // slow down before the search area. if (decel_pose) { @@ -1663,7 +1719,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c return stop_path; } -PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId & path) const +PathWithLaneId GoalPlannerModule::generateFeasibleStopPath( + const PathWithLaneId & path, const std::string & detail) const { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1680,43 +1737,12 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId const auto stop_idx = autoware::motion_utils::insertStopPoint(current_pose, *min_stop_distance, stop_path.points); if (stop_idx) { - debug_stop_pose_with_info_.set(stop_path.points.at(*stop_idx).point.pose, "feasible stop"); + stop_pose_ = PoseWithDetail(stop_path.points.at(*stop_idx).point.pose, detail); } return stop_path; } -bool GoalPlannerModule::isStopped( - std::deque & odometry_buffer, const double time) -{ - const std::lock_guard lock(mutex_); - odometry_buffer.push_back(planner_data_->self_odometry); - // Delete old data in buffer - while (rclcpp::ok()) { - const auto time_diff = rclcpp::Time(odometry_buffer.back()->header.stamp) - - rclcpp::Time(odometry_buffer.front()->header.stamp); - if (time_diff.seconds() < time) { - break; - } - odometry_buffer.pop_front(); - } - bool is_stopped = true; - for (const auto & odometry : odometry_buffer) { - const double ego_vel = utils::l2Norm(odometry->twist.twist.linear); - if (ego_vel > parameters_->th_stopped_velocity) { - is_stopped = false; - break; - } - } - return is_stopped; -} - -bool GoalPlannerModule::isStopped() -{ - const std::lock_guard lock(mutex_); - return isStopped(odometry_buffer_stopped_, parameters_->th_stopped_time); -} - bool GoalPlannerModule::isStuck( const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, const std::shared_ptr planner_data, @@ -1737,7 +1763,9 @@ bool GoalPlannerModule::isStuck( } constexpr double stuck_time = 5.0; - if (!isStopped(odometry_buffer_stuck_, stuck_time)) { + if (!isStopped( + odometry_buffer_stuck_, planner_data->self_odometry, stuck_time, + parameters_->th_stopped_velocity)) { return false; } @@ -1777,7 +1805,9 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d return false; } - if (!isStopped()) { + if (!isStopped( + odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, + parameters_->th_stopped_velocity)) { return false; } @@ -1813,18 +1843,6 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d parameters_->th_arrived_distance; } -bool GoalPlannerModule::isOnModifiedGoal( - const Pose & current_pose, const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const -{ - if (!modified_goal_opt) { - return false; - } - - return calcDistance2d(current_pose, modified_goal_opt.value().goal_pose) < - parameters.th_arrived_distance; -} - TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo(const PullOverContextData & context_data) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1902,17 +1920,6 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo(const PullOverContextData & return new_signal; } -bool GoalPlannerModule::checkOccupancyGridCollision( - const PathWithLaneId & path, - const std::shared_ptr occupancy_grid_map) const -{ - if (!occupancy_grid_map) { - return false; - } - const bool check_out_of_range = false; - return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); -} - bool GoalPlannerModule::hasEnoughDistance( const PullOverPath & pull_over_path, const PathWithLaneId & long_tail_reference_path) const { @@ -2544,10 +2551,10 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) occupancy_grid_map_, *parameters_)) { marker.text += " stuck"; } - */ if (isStopped()) { marker.text += " stopped"; } + */ if (debug_data_.freespace_planner.is_planning) { marker.text += @@ -2558,38 +2565,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) planner_type_marker_array.markers.push_back(marker); add(planner_type_marker_array); } - - // Visualize stop pose info - if (debug_stop_pose_with_info_.pose->has_value()) { - visualization_msgs::msg::MarkerArray stop_pose_marker_array{}; - const auto color = createMarkerColor(1.0, 1.0, 1.0, 0.99); - auto marker = createDefaultMarker( - header.frame_id, header.stamp, "stop_pose_info", 0, - visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 0.5), color); - marker.pose = debug_stop_pose_with_info_.pose->value(); - marker.text = debug_stop_pose_with_info_.string; - stop_pose_marker_array.markers.push_back(marker); - add(stop_pose_marker_array); - add(createPoseMarkerArray(marker.pose, "stop_pose", 1.0, 1.0, 1.0, 0.9)); - } -} - -bool GoalPlannerModule::needPathUpdate( - const Pose & current_pose, const double path_update_duration, - const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const -{ - return !isOnModifiedGoal(current_pose, modified_goal_opt, parameters) && - hasEnoughTimePassedSincePathUpdate(path_update_duration); -} - -bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const -{ - if (!thread_safe_data_.get_last_path_update_time()) { - return true; - } - - return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; } void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( @@ -2636,166 +2611,4 @@ void GoalPlannerModule::GoalPlannerData::update( goal_candidates = goal_candidates_; } -void PathDecisionStateController::transit_state( - const bool found_pull_over_path, const rclcpp::Time & now, - const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, - const std::optional modified_goal_opt, - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const bool is_current_safe, const GoalPlannerParameters & parameters, - const std::shared_ptr goal_searcher, const bool is_activated, - const std::optional & pull_over_path, - std::vector & ego_polygons_expanded) -{ - const auto next_state = get_next_state( - found_pull_over_path, now, static_target_objects, dynamic_target_objects, modified_goal_opt, - planner_data, occupancy_grid_map, is_current_safe, parameters, goal_searcher, is_activated, - pull_over_path, ego_polygons_expanded); - current_state_ = next_state; -} - -PathDecisionState PathDecisionStateController::get_next_state( - const bool found_pull_over_path, const rclcpp::Time & now, - const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, - const std::optional modified_goal_opt, - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const bool is_current_safe, const GoalPlannerParameters & parameters, - const std::shared_ptr goal_searcher, const bool is_activated, - const std::optional & pull_over_path_opt, - std::vector & ego_polygons_expanded) const -{ - auto next_state = current_state_; - - // update safety - if (!parameters.safety_check_params.enable_safety_check) { - next_state.is_stable_safe = true; - } else { - if (is_current_safe) { - if (!next_state.safe_start_time) { - next_state.safe_start_time = now; - next_state.is_stable_safe = false; - } else { - next_state.is_stable_safe = - ((now - next_state.safe_start_time.value()).seconds() > - parameters.safety_check_params.keep_unsafe_time); - } - } else { - next_state.safe_start_time = std::nullopt; - next_state.is_stable_safe = false; - } - } - - // Once this function returns true, it will continue to return true thereafter - if (next_state.state == PathDecisionState::DecisionKind::DECIDED) { - return next_state; - } - - // if path is not safe, not decided - if (!found_pull_over_path || !pull_over_path_opt) { - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - const auto & pull_over_path = pull_over_path_opt.value(); - const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; - // If it is dangerous against dynamic objects before approval, do not determine the path. - // This eliminates a unsafe path to be approved - if (enable_safety_check && !next_state.is_stable_safe && !is_activated) { - RCLCPP_DEBUG( - logger_, - "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " - "approval"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - const auto & current_path = pull_over_path.getCurrentPath(); - if (current_state_.state == PathDecisionState::DecisionKind::DECIDING) { - const double hysteresis_factor = 0.9; - - // check goal pose collision - if ( - modified_goal_opt && !goal_searcher->isSafeGoalWithMarginScaleFactor( - modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, - planner_data, static_target_objects)) { - RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - next_state.deciding_start_time = std::nullopt; - return next_state; - } - - // check current parking path collision - const auto & parking_path = pull_over_path.parking_path(); - const auto & parking_path_curvatures = pull_over_path.parking_path_curvatures(); - const double margin = - parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; - if (goal_planner_utils::checkObjectsCollision( - parking_path, parking_path_curvatures, static_target_objects, dynamic_target_objects, - planner_data->parameters, margin, - /*extract_static_objects=*/false, parameters.maximum_deceleration, - parameters.object_recognition_collision_check_max_extra_stopping_margin, - ego_polygons_expanded, true)) { - RCLCPP_DEBUG( - logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - next_state.deciding_start_time = std::nullopt; - return next_state; - } - - if (enable_safety_check && !next_state.is_stable_safe) { - RCLCPP_DEBUG( - logger_, - "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - // if enough time has passed since deciding status starts, transition to DECIDED - constexpr double check_collision_duration = 1.0; - const double elapsed_time_from_deciding = - (now - current_state_.deciding_start_time.value()).seconds(); - if (elapsed_time_from_deciding > check_collision_duration) { - RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->DECIDED. has enough safe time passed"); - next_state.state = PathDecisionState::DecisionKind::DECIDED; - next_state.deciding_start_time = std::nullopt; - return next_state; - } - - // if enough time has NOT passed since deciding status starts, keep DECIDING - RCLCPP_DEBUG( - logger_, "[DecidingPathStatus]: keep DECIDING. elapsed_time_from_deciding: %f", - elapsed_time_from_deciding); - return next_state; - } - - // if ego is sufficiently close to the start of the nearest candidate path, the path is decided - const auto & current_pose = planner_data->self_odometry->pose.pose; - const size_t ego_segment_idx = - autoware::motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); - - const size_t start_pose_segment_idx = autoware::motion_utils::findNearestSegmentIndex( - current_path.points, pull_over_path.start_pose().position); - const double dist_to_parking_start_pose = calcSignedArcLength( - current_path.points, current_pose.position, ego_segment_idx, - pull_over_path.start_pose().position, start_pose_segment_idx); - if (dist_to_parking_start_pose > parameters.decide_path_distance) { - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - // if object recognition for path collision check is enabled, transition to DECIDING to check - // collision for a certain period of time. Otherwise, transition to DECIDED directly. - if (parameters.use_object_recognition) { - RCLCPP_DEBUG( - logger_, - "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " - "period of time"); - next_state.state = PathDecisionState::DecisionKind::DECIDING; - next_state.deciding_start_time = now; - return next_state; - } - return {PathDecisionState::DecisionKind::DECIDED, std::nullopt}; -} - } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 5607729e1030d..66192a00a99fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -29,7 +29,9 @@ #include +#include #include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp index 63610f5ac31f7..31d8afffbdabe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp @@ -14,6 +14,9 @@ #include +#include +#include + namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index 4bdec4a285d75..501502125d7ee 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -22,7 +22,10 @@ #include #include +#include +#include #include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 75cdb2d892510..a2a64fc700676 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -33,7 +33,11 @@ #include #include +#include +#include #include +#include +#include #include namespace autoware::behavior_path_planner::goal_planner_utils @@ -719,8 +723,13 @@ lanelet::Lanelet createDepartureCheckLanelet( }; const auto getMostInnerLane = [&](const lanelet::ConstLanelet & lane) -> lanelet::ConstLanelet { - return left_side_parking ? route_handler.getMostRightLanelet(lane, false, true) - : route_handler.getMostLeftLanelet(lane, false, true); + const auto getInnerLane = + left_side_parking ? &RouteHandler::getMostRightLanelet : &RouteHandler::getMostLeftLanelet; + const auto getOppositeLane = left_side_parking ? &RouteHandler::getRightOppositeLanelets + : &RouteHandler::getLeftOppositeLanelets; + const auto inner_lane = (route_handler.*getInnerLane)(lane, true, true); + const auto opposite_lanes = (route_handler.*getOppositeLane)(inner_lane); + return opposite_lanes.empty() ? inner_lane : opposite_lanes.front(); }; lanelet::Points3d outer_bound_points{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp index 64dbac4ff9adf..de231b78041b4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp @@ -20,6 +20,10 @@ #include +#include +#include +#include + class TestUtilWithMap : public ::testing::Test { protected: diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index cc4ff795e150a..42f6ddf841fec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -2,6 +2,331 @@ Changelog for package autoware_behavior_path_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(lane_change): check obj predicted path when filtering (`#9385 `_) + * RT1-8537 check object's predicted path when filtering + * use ranges view in get_line_string_paths + * check only vehicle type predicted path + * Refactor naming + * fix grammatical + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * precommit and grammar fix + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(lane_change): reduce prepare duration when blinker has been activated (`#9185 `_) + * add minimum prepare duration parameter + * reduce prepare duration according to signal activation time + * chore: update CODEOWNERS (`#9203 `_) + Co-authored-by: github-actions + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * modify implementation to compute and keep actual prepare duration in transient data + * if LC path is approved, set prepare duration in transient data from approved path prepare duration + * change default value of LC param min_prepare_duration + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * add function to set signal activation time, add docstring for function calc_actual_prepare_duration + * check for zero value max_acc to avoid division by zero + * chore: rename codeowners file + * chore: rename codeowners file + * chore: rename codeowners file + * allow decelerating in lane changing phase near terminal + * fix spelling + * fix units + * allow decelerating in lane changing phase near terminal + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * run pre-commit check + * fix spelling + * fix format + * allow decelerating in lane changing phase near terminal + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * run pre-commit check + * fix spelling + * fix format + --------- + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: github-actions + Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: Mamoru Sobue + Co-authored-by: SakodaShintaro + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: tomoya.kimura +* feat(lane_changing): improve computation of lane changing acceleration (`#9545 `_) + * allow decelerating in lane changing phase near terminal + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * run pre-commit check + * fix spelling + * fix format + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* fix(lane_change): cap ego's predicted path velocity (RT1-8505) (`#9341 `_) + * fix(lane_change): cap ego's predicted path velocity (RT1-8505) + * properly cap based on 0.0 instead of min lc vel + * fix build error + --------- +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-unused-variable (`#9401 `_) +* feat(lane_change): improve delay lane change logic (`#9480 `_) + * implement function to check if lane change delay is required + * refactor function isParkedObject + * refactor delay lane change parameters + * update lc param yaml + * separate target lane leading objects based on behavior (RT1-8532) + * fixed overlapped filtering and lanes debug marker + * combine filteredObjects function + * renaming functions and type + * update some logic to check is stopped + * rename expanded to stopped_outside_boundary + * Include docstring + * rename stopped_outside_boundary → stopped_at_bound + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * spell-check + * add docstring for function is_delay_lane_change + * remove unused functions + * fix spelling + * add delay parameters to README + * add documentation for delay lane change behavior + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * run pre-commit checks + * only check for delay lc if feature is enabled + --------- + Co-authored-by: Zulfaqar Azmi + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-error (`#9402 `_) +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-overloaded-virtual (`#9400 `_) +* feat(lane_change): parse predicted objects for lane change test (RT1-8251) (`#9256 `_) + * RT1-8251 parse predicted objects + * fix pre-commit and build error + * add additional test and fix test failure + * fix lint_cmake failure + * use expect instead + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* refactor(lane_change): refactor lane change parameters (`#9403 `_) + * refactor lane change parameters + * update lane change param yaml + * update lane change README + * regroup some parameters + * run pre-commit prettier step + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * apply pre-commit checks + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) + * separate target lane leading objects based on behavior (RT1-8532) + * fixed overlapped filtering and lanes debug marker + * combine filteredObjects function + * renaming functions and type + * update some logic to check is stopped + * rename expanded to stopped_outside_boundary + * Include docstring + * rename stopped_outside_boundary → stopped_at_bound + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * spell-check + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* feat(lane_change): output velocity factor (`#9349 `_) +* refactor(lane_change): refactor extended object safety check (`#9322 `_) + * refactor LC extended object collision check code + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) +* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold +* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. +* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) +* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, Zulfaqar Azmi, kobayu858, mkquda + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) +* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold +* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. +* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) +* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, Zulfaqar Azmi, mkquda + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index d24a89bf03000..86d8d1c0c1413 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -886,13 +886,15 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | | `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | | `backward_length_from_intersection` | [m] | double | Distance threshold from the last intersection to invalidate or cancel the lane change path | 5.0 | -| `trajectory.prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `trajectory.max_prepare_duration` | [s] | double | The maximum preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `trajectory.min_prepare_duration` | [s] | double | The minimum preparation time for the ego vehicle to be ready to perform lane change. | 2.0 | | `trajectory.lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | | `trajectory.minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | | `trajectory.lon_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 3 | | `trajectory.lat_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | | `trajectory.max_longitudinal_acc` | [m/s2] | double | maximum longitudinal acceleration for lane change | 1.0 | | `trajectory.min_longitudinal_acc` | [m/s2] | double | maximum longitudinal deceleration for lane change | -1.0 | +| `trajectory.lane_changing_decel_factor` | [-] | double | longitudinal deceleration factor during lane changing phase | 0.5 | | `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | | `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | | `lateral_acceleration.min_values` | [m/s2] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.4, 0.4, 0.4] | diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index 6baf05edad484..bf892b3058a16 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -11,7 +11,8 @@ # trajectory generation trajectory: - prepare_duration: 4.0 + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 lateral_jerk: 0.5 min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 @@ -20,6 +21,7 @@ min_lane_changing_velocity: 2.78 lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 # delay lane change delay_lane_change: diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 550925c4a10fc..7202a1c6a9108 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -54,7 +54,7 @@ class NormalLaneChange : public LaneChangeBase void update_lanes(const bool is_approved) final; - void update_transient_data() final; + void update_transient_data(const bool is_approved) final; void update_filtered_objects() final; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index e5c7fcb6d621e..741b5afb50e08 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -68,7 +68,7 @@ class LaneChangeBase virtual void update_lanes(const bool is_approved) = 0; - virtual void update_transient_data() = 0; + virtual void update_transient_data(const bool is_approved) = 0; virtual void update_filtered_objects() = 0; @@ -267,6 +267,15 @@ class LaneChangeBase return turn_signal; } + void set_signal_activation_time(const bool reset = false) const + { + if (reset) { + signal_activation_time_ = std::nullopt; + } else if (!signal_activation_time_) { + signal_activation_time_ = clock_.now(); + } + } + LaneChangeStatus status_{}; PathShifter path_shifter_{}; @@ -292,6 +301,7 @@ class LaneChangeBase mutable StopWatch stop_watch_; mutable lane_change::Debug lane_change_debug_; + mutable std::optional signal_activation_time_{std::nullopt}; rclcpp::Logger logger_ = utils::lane_change::getLogger(getModuleTypeStr()); mutable rclcpp::Clock clock_{RCL_ROS_TIME}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index b6e6cb968ace8..29047c90590b3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -75,7 +75,7 @@ double calc_dist_to_last_fit_width( * of the maximum lane change preparation duration and the maximum velocity of the ego vehicle. * * @param common_data_ptr Shared pointer to a CommonData structure, which should include: - * - `lc_param_ptr->lane_change_prepare_duration`: The duration allowed for lane change + * - `lc_param_ptr->maximum_prepare_duration`: The maximum duration allowed for lane change * preparation. * - `bpp_param_ptr->max_vel`: The maximum velocity of the ego vehicle. * @@ -106,8 +106,9 @@ double calc_ego_dist_to_lanes_start( const lanelet::ConstLanelets & target_lanes); double calc_lane_changing_acceleration( - const double initial_lane_changing_velocity, const double max_path_velocity, - const double lane_changing_time, const double prepare_longitudinal_acc); + const CommonDataPtr & common_data_ptr, const double initial_lane_changing_velocity, + const double max_path_velocity, const double lane_changing_time, + const double prepare_longitudinal_acc); /** * @brief Calculates the distance required during a lane change operation. @@ -130,6 +131,24 @@ std::vector calc_lon_acceleration_samples( const CommonDataPtr & common_data_ptr, const double max_path_velocity, const double prepare_duration); +/** + * @brief calculates the actual prepare duration that will be used for path generation + * + * @details computes the required prepare duration to be used for candidate path + * generation based on the elapsed time of turn signal activation, the minimum + * and maximum parameterized values for the prepare duration, + * and the minimum lane changing velocity. + * + * @param common_data_ptr Shared pointer to a CommonData structure, which includes + * lane change parameters and bpp common parameters. + * @param current_velocity current ego vehicle velocity. + * @param active_signal_duration elapsed time since turn signal activation. + * @return The calculated prepare duration value in seconds (s) + */ +double calc_actual_prepare_duration( + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double active_signal_duration); + std::vector calc_prepare_phase_metrics( const CommonDataPtr & common_data_ptr, const double current_velocity, const double max_path_velocity, const double min_length_threshold = 0.0, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index 32cf000ecb1a7..c121ab8512cce 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -222,6 +222,8 @@ struct TransientData size_t current_path_seg_idx; // index of nearest segment to ego along current path double current_path_velocity; // velocity of the current path at the ego position along the path + double lane_change_prepare_duration{0.0}; + bool is_ego_near_current_terminal_start{false}; bool is_ego_stuck{false}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp index 7f97eb872f795..a76742307e061 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp @@ -115,13 +115,15 @@ struct SafetyParameters struct TrajectoryParameters { - double prepare_duration{4.0}; + double max_prepare_duration{4.0}; + double min_prepare_duration{1.0}; double lateral_jerk{0.5}; double min_longitudinal_acc{-1.0}; double max_longitudinal_acc{1.0}; double th_prepare_length_diff{0.5}; double th_lane_changing_length_diff{0.5}; double min_lane_changing_velocity{5.6}; + double lane_changing_decel_factor{0.5}; int lon_acc_sampling_num{10}; int lat_acc_sampling_num{10}; LateralAccelerationMap lat_acc_map{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 2ec9d4cdf4e4e..5dcd132f16377 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -116,10 +116,9 @@ CandidateOutput assignToCandidate( std::optional get_lane_change_target_lane( const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes); -std::vector convertToPredictedPath( - const LaneChangePath & lane_change_path, const Twist & vehicle_twist, const Pose & pose, - const double lane_changing_acceleration, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const double resolution); +std::vector convert_to_predicted_path( + const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, + const double lane_changing_acceleration); bool isParkedObject( const PathWithLaneId & path, const RouteHandler & route_handler, @@ -383,5 +382,22 @@ bool filter_target_lane_objects( const double dist_ego_to_current_lanes_center, const bool ahead_of_ego, const bool before_terminal, TargetLaneLeadingObjects & leading_objects, ExtendedPredictedObjects & trailing_objects); + +/** + * @brief Determines if the object's predicted path overlaps with the given lane polygon. + * + * This function checks whether any of the line string paths derived from the object's predicted + * trajectories intersect or overlap with the specified polygon representing lanes. + * + * @param object The extended predicted object containing predicted trajectories and initial + * polygon. + * @param lanes_polygon A polygon representing the lanes to check for overlaps with the object's + * paths. + * + * @return true if any of the object's predicted paths overlap with the lanes polygon, false + * otherwise. + */ +bool object_path_overlaps_lanes( + const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon); } // namespace autoware::behavior_path_planner::utils::lane_change #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index aef3d357c20da..dd4dbe63e41d4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_lane_change_module - 0.38.0 + 0.40.0 The autoware_behavior_path_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 44252bb9f2005..d65e51997eb32 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -24,8 +24,10 @@ #include #include +#include #include #include +#include #include namespace autoware::behavior_path_planner @@ -78,7 +80,7 @@ void LaneChangeInterface::updateData() module_type_->setPreviousModuleOutput(getPreviousModuleOutput()); module_type_->update_lanes(getCurrentStatus() == ModuleStatus::RUNNING); module_type_->update_filtered_objects(); - module_type_->update_transient_data(); + module_type_->update_transient_data(getCurrentStatus() == ModuleStatus::RUNNING); module_type_->updateSpecialData(); if (isWaitingApproval() || module_type_->isAbortState()) { @@ -109,7 +111,9 @@ BehaviorModuleOutput LaneChangeInterface::plan() path_reference_ = std::make_shared(output.reference_path); *prev_approved_path_ = getPreviousModuleOutput().path; - stop_pose_ = module_type_->getStopPose(); + const auto stop_pose_opt = module_type_->getStopPose(); + stop_pose_ = stop_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(stop_pose_opt.value())) + : PoseWithDetailOpt(); const auto & lane_change_debug = module_type_->getDebugData(); for (const auto & [uuid, data] : lane_change_debug.collision_check_objects_after_approval) { @@ -153,10 +157,10 @@ BehaviorModuleOutput LaneChangeInterface::plan() BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() { - *prev_approved_path_ = getPreviousModuleOutput().path; - BehaviorModuleOutput out = getPreviousModuleOutput(); + *prev_approved_path_ = out.path; + module_type_->insert_stop_point(module_type_->get_current_lanes(), out.path); out.turn_signal_info = module_type_->get_current_turn_signal_info(); @@ -166,8 +170,10 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } - path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); - stop_pose_ = module_type_->getStopPose(); + path_reference_ = std::make_shared(out.reference_path); + const auto stop_pose_opt = module_type_->getStopPose(); + stop_pose_ = stop_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(stop_pose_opt.value())) + : PoseWithDetailOpt(); if (!module_type_->isValidPath()) { path_candidate_ = std::make_shared(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index fc419f149e2b9..1bb41069140e7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -20,6 +20,7 @@ #include +#include #include #include #include @@ -44,8 +45,10 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s // trajectory generation { - p.trajectory.prepare_duration = - getOrDeclareParameter(*node, parameter("trajectory.prepare_duration")); + p.trajectory.max_prepare_duration = + getOrDeclareParameter(*node, parameter("trajectory.max_prepare_duration")); + p.trajectory.min_prepare_duration = + getOrDeclareParameter(*node, parameter("trajectory.min_prepare_duration")); p.trajectory.lateral_jerk = getOrDeclareParameter(*node, parameter("trajectory.lateral_jerk")); p.trajectory.min_longitudinal_acc = @@ -58,14 +61,16 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s getOrDeclareParameter(*node, parameter("trajectory.th_lane_changing_length_diff")); p.trajectory.min_lane_changing_velocity = getOrDeclareParameter(*node, parameter("trajectory.min_lane_changing_velocity")); + p.trajectory.lane_changing_decel_factor = + getOrDeclareParameter(*node, parameter("trajectory.lane_changing_decel_factor")); p.trajectory.lon_acc_sampling_num = getOrDeclareParameter(*node, parameter("trajectory.lon_acc_sampling_num")); p.trajectory.lat_acc_sampling_num = getOrDeclareParameter(*node, parameter("trajectory.lat_acc_sampling_num")); const auto max_acc = getOrDeclareParameter(*node, "normal.max_acc"); - p.trajectory.min_lane_changing_velocity = - std::min(p.trajectory.min_lane_changing_velocity, max_acc * p.trajectory.prepare_duration); + p.trajectory.min_lane_changing_velocity = std::min( + p.trajectory.min_lane_changing_velocity, max_acc * p.trajectory.max_prepare_duration); // validation of trajectory parameters if (p.trajectory.lon_acc_sampling_num < 1 || p.trajectory.lat_acc_sampling_num < 1) { @@ -308,7 +313,10 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector(parameters, ns + "prepare_duration", p->trajectory.prepare_duration); + updateParam( + parameters, ns + "max_prepare_duration", p->trajectory.max_prepare_duration); + updateParam( + parameters, ns + "min_prepare_duration", p->trajectory.min_prepare_duration); updateParam(parameters, ns + "lateral_jerk", p->trajectory.lateral_jerk); updateParam( parameters, ns + ".min_lane_changing_velocity", p->trajectory.min_lane_changing_velocity); @@ -317,6 +325,8 @@ void LaneChangeModuleManager::updateModuleParams(const std::vectortrajectory.min_longitudinal_acc); updateParam( parameters, ns + "max_longitudinal_acc", p->trajectory.max_longitudinal_acc); + updateParam( + parameters, ns + "lane_changing_decel_factor", p->trajectory.lane_changing_decel_factor); int longitudinal_acc_sampling_num = 0; updateParam(parameters, ns + "lon_acc_sampling_num", longitudinal_acc_sampling_num); if (longitudinal_acc_sampling_num > 0) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 1c2e6ba1c5b85..2770831dbc485 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -42,6 +42,7 @@ #include #include #include +#include #include #include @@ -130,7 +131,7 @@ void NormalLaneChange::update_lanes(const bool is_approved) *common_data_ptr_->lanes_polygon_ptr = create_lanes_polygon(common_data_ptr_); } -void NormalLaneChange::update_transient_data() +void NormalLaneChange::update_transient_data(const bool is_approved) { if ( !common_data_ptr_ || !common_data_ptr_->is_data_available() || @@ -149,6 +150,13 @@ void NormalLaneChange::update_transient_data() prev_module_output_.path.points.at(nearest_seg_idx).point.longitudinal_velocity_mps; transient_data.current_path_seg_idx = nearest_seg_idx; + const auto active_signal_duration = + signal_activation_time_ ? (clock_.now() - signal_activation_time_.value()).seconds() : 0.0; + transient_data.lane_change_prepare_duration = + is_approved ? status_.lane_change_path.info.duration.prepare + : calculation::calc_actual_prepare_duration( + common_data_ptr_, common_data_ptr_->get_ego_speed(), active_signal_duration); + std::tie(transient_data.lane_changing_length, transient_data.current_dist_buffer) = calculation::calc_lc_length_and_dist_buffer(common_data_ptr_, get_current_lanes()); @@ -327,6 +335,8 @@ TurnSignalInfo NormalLaneChange::get_current_turn_signal_info() const return get_terminal_turn_signal_info(); } + set_signal_activation_time(); + return get_turn_signal(getEgoPose(), getLaneChangePath().info.lane_changing_end); } @@ -355,9 +365,14 @@ TurnSignalInfo NormalLaneChange::get_terminal_turn_signal_info() const const auto nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; const auto current_nearest_seg_idx = common_data_ptr_->transient_data.current_path_seg_idx; - return getTurnSignalDecider().overwrite_turn_signal( + const auto turn_signal_info = getTurnSignalDecider().overwrite_turn_signal( path, current_pose, current_nearest_seg_idx, original_turn_signal_info, terminal_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold); + + set_signal_activation_time( + turn_signal_info.turn_signal.command != terminal_turn_signal_info.turn_signal.command); + + return turn_signal_info; } LaneChangePath NormalLaneChange::getLaneChangePath() const @@ -428,8 +443,6 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() output.path = utils::combinePath(output.path, *found_extended_path); } output.reference_path = getReferencePath(); - output.turn_signal_info = - get_turn_signal(getEgoPose(), status_.lane_change_path.info.lane_changing_end); if (isStopState()) { const auto current_velocity = getEgoVelocity(); @@ -445,12 +458,17 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() extendOutputDrivableArea(output); + const auto turn_signal_info = + get_turn_signal(getEgoPose(), status_.lane_change_path.info.lane_changing_end); const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path.points); output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal( output.path, getEgoPose(), current_seg_idx, prev_module_output_.turn_signal_info, - output.turn_signal_info, planner_data_->parameters.ego_nearest_dist_threshold, + turn_signal_info, planner_data_->parameters.ego_nearest_dist_threshold, planner_data_->parameters.ego_nearest_yaw_threshold); + set_signal_activation_time( + output.turn_signal_info.turn_signal.command != turn_signal_info.turn_signal.command); + return output; } @@ -970,6 +988,7 @@ lane_change::TargetObjects NormalLaneChange::get_target_objects( FilteredLanesObjects NormalLaneChange::filter_objects() const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); auto objects = *planner_data_->dynamic_object; utils::path_safety_checker::filterObjectsByClass( objects, lane_change_parameters_->safety.target_object_types); @@ -1809,8 +1828,6 @@ bool NormalLaneChange::has_collision_with_decel_patterns( return false; } - const auto current_pose = common_data_ptr_->get_ego_pose(); - const auto current_twist = common_data_ptr_->get_ego_twist(); const auto bpp_param = *common_data_ptr_->bpp_param_ptr; const auto global_min_acc = bpp_param.min_acc; const auto lane_changing_acc = lane_change_path.info.longitudinal_acceleration.lane_changing; @@ -1827,17 +1844,11 @@ bool NormalLaneChange::has_collision_with_decel_patterns( acceleration_values.begin(), acceleration_values.end(), acceleration_values.begin(), [&](double n) { return lane_changing_acc + n * acc_resolution; }); - const auto time_resolution = - lane_change_parameters_->safety.collision_check.prediction_time_resolution; - const auto stopped_obj_vel_th = lane_change_parameters_->safety.th_stopped_object_velocity; const auto all_collided = std::all_of( acceleration_values.begin(), acceleration_values.end(), [&](const auto acceleration) { - const auto ego_predicted_path = utils::lane_change::convertToPredictedPath( - lane_change_path, current_twist, current_pose, acceleration, bpp_param, - *lane_change_parameters_, time_resolution); - const auto debug_predicted_path = - utils::path_safety_checker::convertToPredictedPath(ego_predicted_path, time_resolution); + const auto ego_predicted_path = utils::lane_change::convert_to_predicted_path( + common_data_ptr_, lane_change_path, acceleration); return std::any_of(objects.begin(), objects.end(), [&](const auto & obj) { const auto selected_rss_param = (obj.initial_twist.linear.x <= stopped_obj_vel_th) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 9cbf9d4beb5ff..3ba11d62a2be7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -104,7 +104,7 @@ double calc_dist_to_last_fit_width( double calc_maximum_prepare_length(const CommonDataPtr & common_data_ptr) { - const auto max_prepare_duration = common_data_ptr->lc_param_ptr->trajectory.prepare_duration; + const auto max_prepare_duration = common_data_ptr->lc_param_ptr->trajectory.max_prepare_duration; const auto ego_max_speed = common_data_ptr->bpp_param_ptr->max_vel; return max_prepare_duration * ego_max_speed; @@ -197,7 +197,7 @@ std::vector calc_max_lane_change_lengths( const auto & params = common_data_ptr->lc_param_ptr->trajectory; const auto lat_jerk = params.lateral_jerk; - const auto t_prepare = params.prepare_duration; + const auto t_prepare = params.max_prepare_duration; const auto current_velocity = common_data_ptr->get_ego_speed(); const auto path_velocity = common_data_ptr->transient_data.current_path_velocity; @@ -382,11 +382,17 @@ std::vector calc_lon_acceleration_samples( } double calc_lane_changing_acceleration( - const double initial_lane_changing_velocity, const double max_path_velocity, - const double lane_changing_time, const double prepare_longitudinal_acc) + const CommonDataPtr & common_data_ptr, const double initial_lane_changing_velocity, + const double max_path_velocity, const double lane_changing_time, + const double prepare_longitudinal_acc) { if (prepare_longitudinal_acc <= 0.0) { - return 0.0; + const auto & params = common_data_ptr->lc_param_ptr->trajectory; + const auto lane_changing_acc = + common_data_ptr->transient_data.is_ego_near_current_terminal_start + ? prepare_longitudinal_acc * params.lane_changing_decel_factor + : 0.0; + return lane_changing_acc; } return std::clamp( @@ -394,18 +400,41 @@ double calc_lane_changing_acceleration( prepare_longitudinal_acc); } +double calc_actual_prepare_duration( + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double active_signal_duration) +{ + const auto & params = common_data_ptr->lc_param_ptr->trajectory; + const auto min_lc_velocity = params.min_lane_changing_velocity; + + // need to ensure min prep duration is sufficient to reach minimum lane changing velocity + const auto min_prepare_duration = std::invoke([&]() -> double { + if (current_velocity >= min_lc_velocity) { + return params.min_prepare_duration; + } + const auto max_acc = + std::min(common_data_ptr->bpp_param_ptr->max_acc, params.max_longitudinal_acc); + if (max_acc < eps) { + return params.max_prepare_duration; + } + return (min_lc_velocity - current_velocity) / max_acc; + }); + + return std::max(params.max_prepare_duration - active_signal_duration, min_prepare_duration); +} + std::vector calc_prepare_durations(const CommonDataPtr & common_data_ptr) { const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto threshold = common_data_ptr->bpp_param_ptr->base_link2front + lc_param_ptr->min_length_for_turn_signal_activation; - const auto max_prepare_duration = lc_param_ptr->trajectory.prepare_duration; // TODO(Azu) this check seems to cause scenario failures. if (common_data_ptr->transient_data.dist_to_terminal_start >= threshold) { - return {max_prepare_duration}; + return {common_data_ptr->transient_data.lane_change_prepare_duration}; } + const auto max_prepare_duration = lc_param_ptr->trajectory.max_prepare_duration; std::vector prepare_durations; constexpr double step = 0.5; @@ -497,7 +526,7 @@ std::vector calc_shift_phase_metrics( shift_length, common_data_ptr->lc_param_ptr->trajectory.lateral_jerk, lat_acc); const double lane_changing_accel = calc_lane_changing_acceleration( - initial_velocity, max_path_velocity, lane_changing_duration, lon_accel); + common_data_ptr, initial_velocity, max_path_velocity, lane_changing_duration, lon_accel); const auto lane_changing_length = calculation::calc_phase_length( initial_velocity, max_vel, lane_changing_accel, lane_changing_duration); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp index 5700842780395..ff0bd4437c21c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp @@ -26,6 +26,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index db0c1cb37abbb..4d46f8270fac3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -35,6 +35,8 @@ #include #include #include +#include +#include #include #include @@ -599,52 +601,55 @@ std::optional get_lane_change_target_lane( return route_handler_ptr->getLaneChangeTargetExceptPreferredLane(current_lanes, direction); } -std::vector convertToPredictedPath( - const LaneChangePath & lane_change_path, const Twist & vehicle_twist, const Pose & vehicle_pose, - const double lane_changing_acceleration, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const double resolution) +std::vector convert_to_predicted_path( + const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, + const double lane_changing_acceleration) { if (lane_change_path.path.points.empty()) { return {}; } const auto & path = lane_change_path.path; - const auto prepare_acc = lane_change_path.info.longitudinal_acceleration.prepare; - const auto duration = lane_change_path.info.duration.sum(); - const auto prepare_time = lane_change_path.info.duration.prepare; - const auto & minimum_lane_changing_velocity = - lane_change_parameters.trajectory.min_lane_changing_velocity; - + const auto & vehicle_pose = common_data_ptr->get_ego_pose(); + const auto & bpp_param_ptr = common_data_ptr->bpp_param_ptr; const auto nearest_seg_idx = autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - path.points, vehicle_pose, common_parameters.ego_nearest_dist_threshold, - common_parameters.ego_nearest_yaw_threshold); + path.points, vehicle_pose, bpp_param_ptr->ego_nearest_dist_threshold, + bpp_param_ptr->ego_nearest_yaw_threshold); - std::vector predicted_path; const auto vehicle_pose_frenet = convertToFrenetPoint(path.points, vehicle_pose.position, nearest_seg_idx); - const double initial_velocity = std::abs(vehicle_twist.linear.x); + + const auto initial_velocity = common_data_ptr->get_ego_speed(); + const auto prepare_acc = lane_change_path.info.longitudinal_acceleration.prepare; + const auto duration = lane_change_path.info.duration.sum(); + const auto prepare_time = lane_change_path.info.duration.prepare; + const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; + const auto resolution = lc_param_ptr->safety.collision_check.prediction_time_resolution; + std::vector predicted_path; // prepare segment for (double t = 0.0; t < prepare_time; t += resolution) { - const double velocity = - std::max(initial_velocity + prepare_acc * t, minimum_lane_changing_velocity); - const double length = initial_velocity * t + 0.5 * prepare_acc * t * t; + const auto velocity = + std::clamp(initial_velocity + prepare_acc * t, 0.0, lane_change_path.info.velocity.prepare); + const auto length = initial_velocity * t + 0.5 * prepare_acc * t * t; const auto pose = autoware::motion_utils::calcInterpolatedPose( path.points, vehicle_pose_frenet.length + length); predicted_path.emplace_back(t, pose, velocity); } // lane changing segment - const double lane_changing_velocity = - std::max(initial_velocity + prepare_acc * prepare_time, minimum_lane_changing_velocity); - const double offset = + const auto lane_changing_velocity = std::clamp( + initial_velocity + prepare_acc * prepare_time, 0.0, lane_change_path.info.velocity.prepare); + const auto offset = initial_velocity * prepare_time + 0.5 * prepare_acc * prepare_time * prepare_time; for (double t = prepare_time; t < duration; t += resolution) { - const double delta_t = t - prepare_time; - const double velocity = lane_changing_velocity + lane_changing_acceleration * delta_t; - const double length = lane_changing_velocity * delta_t + - 0.5 * lane_changing_acceleration * delta_t * delta_t + offset; + const auto delta_t = t - prepare_time; + const auto velocity = std::clamp( + lane_changing_velocity + lane_changing_acceleration * delta_t, 0.0, + lane_change_path.info.velocity.lane_changing); + const auto length = lane_changing_velocity * delta_t + + 0.5 * lane_changing_acceleration * delta_t * delta_t + offset; const auto pose = autoware::motion_utils::calcInterpolatedPose( path.points, vehicle_pose_frenet.length + length); predicted_path.emplace_back(t, pose, velocity); @@ -1146,11 +1151,8 @@ std::vector get_line_string_paths(const ExtendedPredictedObject & return line_string; }; - const auto paths = object.predicted_paths; - std::vector line_strings; - std::transform(paths.begin(), paths.end(), std::back_inserter(line_strings), to_linestring_2d); - - return line_strings; + return object.predicted_paths | ranges::views::transform(to_linestring_2d) | + ranges::to(); } bool has_overtaking_turn_lane_object( @@ -1161,10 +1163,6 @@ bool has_overtaking_turn_lane_object( return false; } - const auto is_path_overlap_with_target = [&](const LineString2d & path) { - return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target); - }; - const auto is_object_overlap_with_target = [&](const auto & object) { // to compensate for perception issue, or if object is from behind ego, and tries to overtake, // but stop all of sudden @@ -1173,8 +1171,7 @@ bool has_overtaking_turn_lane_object( return true; } - const auto paths = get_line_string_paths(object); - return std::any_of(paths.begin(), paths.end(), is_path_overlap_with_target); + return object_path_overlaps_lanes(object, common_data_ptr->lanes_polygon_ptr->target); }; return std::any_of( @@ -1187,6 +1184,7 @@ bool filter_target_lane_objects( const bool before_terminal, TargetLaneLeadingObjects & leading_objects, ExtendedPredictedObjects & trailing_objects) { + using behavior_path_planner::utils::path_safety_checker::filter::is_vehicle; using behavior_path_planner::utils::path_safety_checker::filter::velocity_filter; const auto & current_lanes = common_data_ptr->lanes_ptr->current; const auto & vehicle_width = common_data_ptr->bpp_param_ptr->vehicle_info.vehicle_width_m; @@ -1203,9 +1201,12 @@ bool filter_target_lane_objects( const auto is_stopped = velocity_filter( object.initial_twist, -std::numeric_limits::epsilon(), stopped_obj_vel_th); if (is_lateral_far && before_terminal) { - const auto in_target_lanes = - !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target); - if (in_target_lanes) { + const auto overlapping_with_target_lanes = + !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target) || + (!is_stopped && is_vehicle(object.classification) && + object_path_overlaps_lanes(object, lanes_polygon.target)); + + if (overlapping_with_target_lanes) { if (!ahead_of_ego && !is_stopped) { trailing_objects.push_back(object); return true; @@ -1244,4 +1245,12 @@ bool filter_target_lane_objects( return false; } + +bool object_path_overlaps_lanes( + const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon) +{ + return ranges::any_of(get_line_string_paths(object), [&](const auto & path) { + return !boost::geometry::disjoint(path, lanes_polygon); + }); +} } // namespace autoware::behavior_path_planner::utils::lane_change diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 504de657eabda..555657fe34af9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 0570349bc3df5..ea36e4dc6960a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -25,7 +25,9 @@ #include +#include #include +#include using autoware::behavior_path_planner::FilteredLanesObjects; using autoware::behavior_path_planner::LaneChangeModuleManager; @@ -126,7 +128,11 @@ class TestNormalLaneChange : public ::testing::Test auto route_handler_ptr = std::make_shared(map_bin_msg); const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, lane_change_right_test_route_filename); - route_handler_ptr->setRoute(autoware::test_utils::parse(rh_test_route)); + if ( + const auto route_opt = + autoware::test_utils::parse>(rh_test_route)) { + route_handler_ptr->setRoute(*route_opt); + } return route_handler_ptr; } @@ -217,7 +223,7 @@ TEST_F(TestNormalLaneChange, testGetPathWhenInvalid) constexpr auto is_approved = true; normal_lane_change_->update_lanes(!is_approved); normal_lane_change_->update_filtered_objects(); - normal_lane_change_->update_transient_data(); + normal_lane_change_->update_transient_data(!is_approved); normal_lane_change_->updateLaneChangeStatus(); const auto & lc_status = normal_lane_change_->getLaneChangeStatus(); @@ -255,7 +261,7 @@ TEST_F(TestNormalLaneChange, testGetPathWhenValid) set_previous_approved_path(); normal_lane_change_->update_lanes(!is_approved); normal_lane_change_->update_filtered_objects(); - normal_lane_change_->update_transient_data(); + normal_lane_change_->update_transient_data(!is_approved); const auto lane_change_required = normal_lane_change_->isLaneChangeRequired(); ASSERT_TRUE(lane_change_required); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index eb9dc2c942d71..654a5b4ed0d87 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -2,6 +2,62 @@ Changelog for package autoware_behavior_path_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(bpp)!: remove stop reason (`#9449 `_) + fix(bpp): remove stop reason +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(bpp): add velocity interface (`#9344 `_) + * feat(bpp): add velocity interface + * fix(adapi): subscribe additional velocity factors + --------- +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 4cbb6b7ffb1cb..6141480d1597a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner - 0.38.0 + 0.40.0 The behavior_path_planner package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index bd5b391127467..041b7ad20a107 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -25,8 +25,13 @@ #include +#include +#include #include #include +#include +#include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp index f4f368008c472..d1602432b19c2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp @@ -13,6 +13,8 @@ // limitations under the License. #include "input.hpp" +#include + namespace autoware::behavior_path_planner { using autoware_planning_msgs::msg::PathPoint; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp index b7d992d9254dc..63b7ccf3fff12 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp index 36e2914571c1f..3d6a76f6807a9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp @@ -23,6 +23,8 @@ #include #include +#include + using autoware::behavior_path_planner::PathWithLaneId; using autoware::behavior_path_planner::Pose; using autoware::behavior_path_planner::utils::FrenetPoint; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index cba7021dcc6bc..6c72ac310e31f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -2,6 +2,178 @@ Changelog for package autoware_behavior_path_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* build(behavior_path_planner_common): fix #include (`#6297 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(lane_change): check obj predicted path when filtering (`#9385 `_) + * RT1-8537 check object's predicted path when filtering + * use ranges view in get_line_string_paths + * check only vehicle type predicted path + * Refactor naming + * fix grammatical + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * precommit and grammar fix + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* test(bpp_common): add unit test for utils (`#9469 `_) + * add easy unit test + * fix clang tidy warning and add unit test + * add more unit test + * add docstring + --------- +* test(bpp_common): add unit test for object filtering (`#9408 `_) + * add unit test for all function + * add function to create bounding nox object + --------- +* test(bpp_common): add unit test for traffic light utils (`#9441 `_) + * add test data for traffic light utils + * add unit test function + * fix style + * use test_utils::resolve_plg_share_uri for map path + --------- +* fix(bpp)!: remove stop reason (`#9449 `_) + fix(bpp): remove stop reason +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(behavior_path_planner_common): add package maintainer (`#9429 `_) + add package maintainer +* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) + * separate target lane leading objects based on behavior (RT1-8532) + * fixed overlapped filtering and lanes debug marker + * combine filteredObjects function + * renaming functions and type + * update some logic to check is stopped + * rename expanded to stopped_outside_boundary + * Include docstring + * rename stopped_outside_boundary → stopped_at_bound + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * spell-check + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) +* fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (`#9363 `_) +* feat(behavior_path_planner_common): use azimuth for interpolatePose (`#9362 `_) +* test(bpp_common): add unit test for safety check (`#9386 `_) + * fix docstring + * add basic collision test + * add some more tests + * add unit test for all functions + * remove unecessary header and space + --------- +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* feat(bpp): add velocity interface (`#9344 `_) + * feat(bpp): add velocity interface + * fix(adapi): subscribe additional velocity factors + --------- +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* fix(bpp): update collided polygon pose only once (`#9338 `_) + * fix(bpp): update collided polygon pose only once + * add expected pose + --------- +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* test(bpp_common): add tests for the static drivable area (`#9324 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bpp): prevent accessing nullopt (`#9269 `_) +* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null +* Contributors: Esteve Fernandez, Felix F Xu, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Shumpei Wakabayashi, Yutaka Kondo, Zulfaqar Azmi, mkquda + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bpp): prevent accessing nullopt (`#9269 `_) +* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Shumpei Wakabayashi, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp index 27f0dc4e58178..749d732aecd00 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp @@ -23,8 +23,8 @@ #include #include #include -#include -#include +#include +#include #include #include @@ -147,6 +147,17 @@ struct CandidateOutput double finish_distance_to_path_change{std::numeric_limits::lowest()}; }; +/** + * @brief Adds detail text to stop/slow/dead_pose virtual walls. + */ +struct PoseWithDetail +{ + Pose pose; + std::string detail; + explicit PoseWithDetail(const Pose & p, const std::string & d = "") : pose(p), detail(d) {} +}; +using PoseWithDetailOpt = std::optional; + struct PlannerData { Odometry::ConstSharedPtr self_odometry{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 9fc4113e87d9e..391ac92411220 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -270,34 +270,40 @@ class SceneModuleInterface std::string name() const { return name_; } - std::optional getStopPose() const + PoseWithDetailOpt getStopPose() const { if (!stop_pose_) { return {}; } const auto & base_link2front = planner_data_->parameters.base_link2front; - return calcOffsetPose(stop_pose_.value(), base_link2front, 0.0, 0.0); + return PoseWithDetail( + calcOffsetPose(stop_pose_.value().pose, base_link2front, 0.0, 0.0), + stop_pose_.value().detail); } - std::optional getSlowPose() const + PoseWithDetailOpt getSlowPose() const { if (!slow_pose_) { return {}; } const auto & base_link2front = planner_data_->parameters.base_link2front; - return calcOffsetPose(slow_pose_.value(), base_link2front, 0.0, 0.0); + return PoseWithDetail( + calcOffsetPose(slow_pose_.value().pose, base_link2front, 0.0, 0.0), + slow_pose_.value().detail); } - std::optional getDeadPose() const + PoseWithDetailOpt getDeadPose() const { if (!dead_pose_) { return {}; } const auto & base_link2front = planner_data_->parameters.base_link2front; - return calcOffsetPose(dead_pose_.value(), base_link2front, 0.0, 0.0); + return PoseWithDetail( + calcOffsetPose(dead_pose_.value().pose, base_link2front, 0.0, 0.0), + dead_pose_.value().detail); } void resetWallPoses() const @@ -556,7 +562,7 @@ class SceneModuleInterface { if (stop_pose_.has_value()) { velocity_factor_interface_.set( - path.points, getEgoPose(), stop_pose_.value(), VelocityFactor::APPROACHING, "stop"); + path.points, getEgoPose(), stop_pose_.value().pose, VelocityFactor::APPROACHING, "stop"); return; } @@ -565,7 +571,7 @@ class SceneModuleInterface } velocity_factor_interface_.set( - path.points, getEgoPose(), slow_pose_.value(), VelocityFactor::APPROACHING, "slow down"); + path.points, getEgoPose(), slow_pose_.value().pose, VelocityFactor::APPROACHING, "slow down"); } void setDrivableLanes(const std::vector & drivable_lanes); @@ -625,11 +631,11 @@ class SceneModuleInterface mutable VelocityFactorInterface velocity_factor_interface_; - mutable std::optional stop_pose_{std::nullopt}; + mutable PoseWithDetailOpt stop_pose_{std::nullopt}; - mutable std::optional slow_pose_{std::nullopt}; + mutable PoseWithDetailOpt slow_pose_{std::nullopt}; - mutable std::optional dead_pose_{std::nullopt}; + mutable PoseWithDetailOpt dead_pose_{std::nullopt}; mutable MarkerArray info_marker_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index e199309dea8bb..73b133952935b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -16,6 +16,7 @@ #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_ #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_ +#include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" #include "autoware/universe_utils/ros/parameter.hpp" @@ -34,7 +35,6 @@ #include #include #include - namespace autoware::behavior_path_planner { @@ -160,25 +160,23 @@ class SceneModuleManagerInterface continue; } - const auto opt_stop_pose = m.lock()->getStopPose(); - if (!!opt_stop_pose) { - const auto virtual_wall = createStopVirtualWallMarker( - opt_stop_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id); - appendMarkerArray(virtual_wall, &markers); - } - - const auto opt_slow_pose = m.lock()->getSlowPose(); - if (!!opt_slow_pose) { - const auto virtual_wall = createSlowDownVirtualWallMarker( - opt_slow_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id); - appendMarkerArray(virtual_wall, &markers); - } - - const auto opt_dead_pose = m.lock()->getDeadPose(); - if (!!opt_dead_pose) { - const auto virtual_wall = createDeadLineVirtualWallMarker( - opt_dead_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id); - appendMarkerArray(virtual_wall, &markers); + const std::vector>> + pose_and_func_vec = { + {m.lock()->getStopPose(), createStopVirtualWallMarker}, + {m.lock()->getSlowPose(), createSlowDownVirtualWallMarker}, + {m.lock()->getDeadPose(), createDeadLineVirtualWallMarker}}; + + for (const auto & [opt_pose, create_virtual_wall] : pose_and_func_vec) { + if (!!opt_pose) { + const auto detail = opt_pose.value().detail; + const auto text = m.lock()->name() + (detail.empty() ? "" : " (" + detail + ")"); + const auto virtual_wall = create_virtual_wall( + opt_pose.value().pose, text, rclcpp::Clock().now(), marker_id, 0.0, "", true); + appendMarkerArray(virtual_wall, &markers); + } } const auto module_specific_wall = m.lock()->getModuleVirtualWall(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp index d34bfeb535f19..42329883de692 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp @@ -70,8 +70,7 @@ std::pair getPairsTerminalVelocityAndAccel( std::optional generateFeasibleStopPath( PathWithLaneId & current_path, std::shared_ptr planner_data, - std::optional & stop_pose, const double maximum_deceleration, - const double maximum_jerk); + PoseWithDetailOpt & stop_pose, const double maximum_deceleration, const double maximum_jerk); /** * @brief calculate end arc length to generate reference path considering the goal position diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp index 5c29f347ad9ef..2ed9fdd9197df 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp @@ -71,6 +71,16 @@ bool is_within_circle( const geometry_msgs::msg::Point & object_pos, const geometry_msgs::msg::Point & reference_point, const double search_radius); +/** + * @brief Checks if the object classification represents a vehicle (CAR, TRUCK, BUS, TRAILER, + * MOTORCYCLE). + * + * @param classification The object classification to check. + * @return true If the classification is a vehicle type. + * @return false Otherwise. + */ +bool is_vehicle(const ObjectClassification & classification); + } // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter namespace autoware::behavior_path_planner::utils::path_safety_checker diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index bd32cf42293a7..f23a9980f1237 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner_common - 0.38.0 + 0.40.0 The autoware_behavior_path_planner_common package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp index a6c480e130d7a..d7ecda3b92680 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp @@ -14,6 +14,8 @@ #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" +#include + namespace autoware::behavior_path_planner { void SceneModuleInterface::setDrivableLanes(const std::vector & drivable_lanes) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp index 7b362d9a8bafa..b91db3a740cfe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -14,6 +14,10 @@ #include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp" +#include +#include +#include + namespace autoware::behavior_path_planner { void SceneModuleManagerInterface::initInterface( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp index 454d8753b0e62..e6ccfc74866c4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp @@ -16,6 +16,8 @@ #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" +#include + namespace autoware::behavior_path_planner { std::shared_ptr SceneModuleVisitor::getAvoidanceModuleDebugMsg() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp index 90693aa65e661..7029c15e45b6e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp @@ -27,6 +27,8 @@ #include #include +#include +#include namespace marker_utils { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp index 22d80da2cfa67..d513017c221cf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp @@ -26,10 +26,14 @@ #include #include +#include #include +#include #include +#include #include #include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index 648bb0a17622c..1076af002fb28 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -30,7 +30,11 @@ #include +#include +#include #include +#include +#include namespace autoware::behavior_path_planner::drivable_area_expansion { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp index 280060334cfd4..4cd7467997669 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include namespace autoware::behavior_path_planner::drivable_area_expansion { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 1c6295f3e70ef..0768c620dd054 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -29,6 +29,14 @@ #include #include +#include +#include +#include +#include +#include +#include +#include + namespace { template diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp index b18858e9dad04..789741153bf4a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp @@ -27,6 +27,9 @@ #include +#include +#include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp index 5fea6b501ba24..5802f111848b4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp @@ -19,6 +19,11 @@ #include #include +#include +#include +#include +#include + namespace autoware::behavior_path_planner::utils::parking_departure { @@ -116,8 +121,7 @@ std::pair getPairsTerminalVelocityAndAccel( std::optional generateFeasibleStopPath( PathWithLaneId & current_path, std::shared_ptr planner_data, - std::optional & stop_pose, const double maximum_deceleration, - const double maximum_jerk) + PoseWithDetailOpt & stop_pose, const double maximum_deceleration, const double maximum_jerk) { if (current_path.points.empty()) { return {}; @@ -141,7 +145,7 @@ std::optional generateFeasibleStopPath( return {}; } - stop_pose = current_path.points.at(*stop_idx).point.pose; + stop_pose = PoseWithDetail(current_path.points.at(*stop_idx).point.pose); return current_path; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index 3c1d9f194aeec..00e9a0f567e7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -23,6 +23,10 @@ #include #include +#include +#include +#include +#include namespace autoware::behavior_path_planner::utils::path_safety_checker::filter { @@ -53,6 +57,20 @@ bool is_within_circle( std::hypot(reference_point.x - object_pos.x, reference_point.y - object_pos.y); return dist < search_radius; } + +bool is_vehicle(const ObjectClassification & classification) +{ + switch (classification.label) { + case ObjectClassification::CAR: + case ObjectClassification::TRUCK: + case ObjectClassification::BUS: + case ObjectClassification::TRAILER: + case ObjectClassification::MOTORCYCLE: + return true; + default: + return false; + } +} } // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter namespace autoware::behavior_path_planner::utils::path_safety_checker diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 04b61b86dfa02..5ae62f51bdb52 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -28,8 +28,12 @@ #include +#include #include #include +#include +#include +#include namespace autoware::behavior_path_planner::utils::path_safety_checker { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index 4fe7765366c08..6d15f387fba72 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index 1e2ad668bf28f..8195b49ae662c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -27,7 +27,9 @@ #include #include +#include #include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index c31bddd921f99..305519279a9ea 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -16,6 +16,9 @@ #include #include +#include +#include + namespace autoware::behavior_path_planner::utils::traffic_light { using autoware::motion_utils::calcSignedArcLength; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index a224ef16bc0d9..9b99a5ef7b31d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -33,7 +33,9 @@ #include #include #include +#include #include +#include #include namespace diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp index 21784757e469e..b8e3cca852a0a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp @@ -21,6 +21,8 @@ #include #include +#include + using autoware::behavior_path_planner::drivable_area_expansion::LineString2d; using autoware::behavior_path_planner::drivable_area_expansion::Point2d; using autoware::behavior_path_planner::drivable_area_expansion::Segment2d; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp index e7280c5bc150b..8c732a972a212 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp @@ -26,6 +26,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp index 4cb1b8ef14d5a..cefa9151dd604 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" @@ -23,6 +24,9 @@ #include #include +#include +#include +#include constexpr double epsilon = 1e-6; @@ -219,7 +223,7 @@ TEST(BehaviorPathPlanningParkingDepartureUtil, generateFeasibleStopPath) data->self_acceleration = accel_with_covariance; auto planner_data = std::static_pointer_cast(data); - std::optional stop_pose; + autoware::behavior_path_planner::PoseWithDetailOpt stop_pose{std::nullopt}; // condition: empty path PathWithLaneId path; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp index 25fc533fc53a4..eacd1b086cd3b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp @@ -21,6 +21,9 @@ #include +#include +#include + namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp index d96b30cccdfaa..562e8abfd432a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp @@ -22,6 +22,7 @@ #include #include +#include using tier4_planning_msgs::msg::PathWithLaneId; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp index ba3141a89b26a..ab6076b328d14 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp @@ -32,6 +32,7 @@ #include #include +#include const auto intersection_map = autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp index 2234574fce83e..13fec41092cc8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -22,7 +22,9 @@ #include #include +#include #include +#include using autoware::universe_utils::Point2d; using autoware_perception_msgs::msg::PredictedObject; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index 7ca3438da02d0..73fd1b4c7532a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -2,6 +2,63 @@ Changelog for package autoware_behavior_path_sampling_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix clang-diagnostic-unused-variable (`#9404 `_) + fix: clang-diagnostic-unused-variable +* fix(autoware_behavior_path_sampling_planner_module): fix invalid parameter file (`#9231 `_) + Co-authored-by: Yutaka Kondo +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index 8d33d41ee96a0..a5d78061448ed 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_sampling_planner_module - 0.38.0 + 0.40.0 The autoware_behavior_path_sampling_planner_module package Daniel Sanchez diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index ede912ea1c285..fac3cc92de1d6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -14,6 +14,15 @@ #include "autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp" +#include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::behavior_path_planner { using autoware::motion_utils::calcSignedArcLength; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index b1fd2c45965bc..6ed62ffc8b913 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -2,6 +2,59 @@ Changelog for package autoware_behavior_path_side_shift_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* test(autoware_behavior_path_side_shift_module): add unit tests for util function (`#9540 `_) + test(side_shift_module): add unit tests +* refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (`#9539 `_) + refactor(side_shift_module): refactor shift length retrieval and improve path orientation handling +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt index 520132dbd3363..334703e0edbb1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt @@ -21,6 +21,21 @@ if(BUILD_TESTING) ) target_include_directories(test_${PROJECT_NAME} PRIVATE src) + + ament_add_ros_isolated_gtest(test_${PROJECT_NAME}_utils + test/test_side_shift_utils.cpp + ) + + target_include_directories(test_${PROJECT_NAME}_utils PRIVATE src) + + ament_target_dependencies(test_${PROJECT_NAME}_utils + tf2 + tf2_geometry_msgs + ) + + target_link_libraries(test_${PROJECT_NAME}_utils + ${PROJECT_NAME} + ) endif() ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp index 543b17aca9352..15d81ff45abcf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp @@ -87,8 +87,6 @@ class SideShiftModule : public SceneModuleInterface // const methods void publishPath(const PathWithLaneId & path) const; - double getClosestShiftLength() const; - // member PathWithLaneId refined_path_{}; PathWithLaneId reference_path_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp index d5888ab6a79d1..5a3e51c353c39 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp @@ -15,6 +15,8 @@ #ifndef AUTOWARE__BEHAVIOR_PATH_SIDE_SHIFT_MODULE__UTILS_HPP_ #define AUTOWARE__BEHAVIOR_PATH_SIDE_SHIFT_MODULE__UTILS_HPP_ +#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" + #include #include #include @@ -27,9 +29,24 @@ using geometry_msgs::msg::Pose; using geometry_msgs::msg::TransformStamped; using tier4_planning_msgs::msg::PathWithLaneId; +/** + * @brief Sets the orientation (yaw angle) for all points in the path. + * @param [in,out] path Path with lane ID to set orientation. + * @details For each point, calculates orientation based on: + * - Vector to next point if not last point + * - Vector from previous point if last point + * - Zero angle if single point + */ void setOrientation(PathWithLaneId * path); -bool isAlmostZero(double v); +/** + * @brief Gets the shift length at the closest path point to the ego position. + * @param [in] shifted_path Path with shift length information. + * @param [in] ego_point Current ego position. + * @return Shift length at the closest path point. Returns 0.0 if path is empty. + */ +double getClosestShiftLength( + const ShiftedPath & shifted_path, const geometry_msgs::msg::Point ego_point); } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml index 05cb8be401554..9bc2b608381fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_side_shift_module - 0.38.0 + 0.40.0 The autoware_behavior_path_side_shift_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index 5970a3a807517..22ee7ab77e077 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -26,6 +26,7 @@ #include #include #include +#include namespace autoware::behavior_path_planner { @@ -88,8 +89,7 @@ bool SideShiftModule::isExecutionRequested() const } // If the desired offset has a non-zero value, return true as we want to execute the plan. - - const bool has_request = !isAlmostZero(requested_lateral_offset_); + const bool has_request = std::fabs(requested_lateral_offset_) >= 1.0e-4; RCLCPP_DEBUG_STREAM( getLogger(), "ESS::isExecutionRequested() : " << std::boolalpha << has_request); @@ -119,6 +119,7 @@ bool SideShiftModule::canTransitSuccessState() { // Never return the FAILURE. When the desired offset is zero and the vehicle is in the original // drivable area,this module can stop the computation and return SUCCESS. + constexpr double ZERO_THRESHOLD = 1.0e-4; const auto isOffsetDiffAlmostZero = [this]() noexcept { const auto last_sp = path_shifter_.getLastShiftLine(); @@ -126,7 +127,7 @@ bool SideShiftModule::canTransitSuccessState() const auto length = std::fabs(last_sp.value().end_shift_length); const auto lateral_offset = std::fabs(requested_lateral_offset_); const auto offset_diff = lateral_offset - length; - if (!isAlmostZero(offset_diff)) { + if (std::fabs(offset_diff) >= ZERO_THRESHOLD) { lateral_offset_change_request_ = true; return false; } @@ -135,7 +136,7 @@ bool SideShiftModule::canTransitSuccessState() }(); const bool no_offset_diff = isOffsetDiffAlmostZero; - const bool no_request = isAlmostZero(requested_lateral_offset_); + const bool no_request = std::fabs(requested_lateral_offset_) < ZERO_THRESHOLD; const auto no_shifted_plan = [&]() { if (prev_output_.shift_length.empty()) { @@ -279,6 +280,11 @@ BehaviorModuleOutput SideShiftModule::plan() ShiftedPath shifted_path; path_shifter_.generate(&shifted_path); + if (shifted_path.path.points.empty()) { + RCLCPP_ERROR(getLogger(), "Generated shift_path has no points"); + return {}; + } + // Reset orientation setOrientation(&shifted_path.path); @@ -336,6 +342,7 @@ BehaviorModuleOutput SideShiftModule::planWaitingApproval() return output; } +// can be moved to utils ShiftLine SideShiftModule::calcShiftLine() const { const auto & p = parameters_; @@ -345,7 +352,8 @@ ShiftLine SideShiftModule::calcShiftLine() const std::max(p->min_distance_to_start_shifting, ego_speed * p->time_to_start_shifting); const double dist_to_end = [&]() { - const double shift_length = requested_lateral_offset_ - getClosestShiftLength(); + const double shift_length = + requested_lateral_offset_ - getClosestShiftLength(prev_output_, getEgoPose().position); const double jerk_shifting_distance = autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_length, p->shifting_lateral_jerk, std::max(ego_speed, p->min_shifting_speed)); const double shifting_distance = std::max(jerk_shifting_distance, p->min_shifting_distance); @@ -367,18 +375,6 @@ ShiftLine SideShiftModule::calcShiftLine() const return shift_line; } -double SideShiftModule::getClosestShiftLength() const -{ - if (prev_output_.shift_length.empty()) { - return 0.0; - } - - const auto ego_point = planner_data_->self_odometry->pose.pose.position; - const auto closest = - autoware::motion_utils::findNearestIndex(prev_output_.path.points, ego_point); - return prev_output_.shift_length.at(closest); -} - BehaviorModuleOutput SideShiftModule::adjustDrivableArea(const ShiftedPath & path) const { BehaviorModuleOutput out; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp index f30895c10d64d..942e87f57d05e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp @@ -26,12 +26,6 @@ namespace autoware::behavior_path_planner { void setOrientation(PathWithLaneId * path) { - if (!path) { - RCLCPP_ERROR( - rclcpp::get_logger("behavior_path_planner").get_child("side_shift").get_child("util"), - "Pointer to path is NULL!"); - } - // Reset orientation for (size_t idx = 0; idx < path->points.size(); ++idx) { double angle = 0.0; @@ -53,9 +47,16 @@ void setOrientation(PathWithLaneId * path) } } -bool isAlmostZero(double v) +double getClosestShiftLength( + const ShiftedPath & shifted_path, const geometry_msgs::msg::Point ego_point) { - return std::fabs(v) < 1.0e-4; + if (shifted_path.shift_length.empty()) { + return 0.0; + } + + const auto closest = + autoware::motion_utils::findNearestIndex(shifted_path.path.points, ego_point); + return shifted_path.shift_length.at(closest); } } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp index 1d70f1388d80b..c8661cdf1d912 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp new file mode 100644 index 0000000000000..b5bb54a6586ca --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp @@ -0,0 +1,144 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "autoware/behavior_path_side_shift_module/utils.hpp" + +#include + +#include +#include +#include + +#include + +namespace autoware::behavior_path_planner +{ + +class SideShiftUtilsTest : public ::testing::Test +{ +protected: + PathWithLaneId generateStraightPath(const double length, const double width) + { + PathWithLaneId path; + const double interval = 1.0; + const size_t point_num = static_cast(length / interval); + + for (size_t i = 0; i < point_num; ++i) { + PathPointWithLaneId p; + p.point.pose.position.x = i * interval; + p.point.pose.position.y = width; + p.point.pose.position.z = 0.0; + + tf2::Quaternion q; + q.setRPY(0, 0, 0); + p.point.pose.orientation.x = q.x(); + p.point.pose.orientation.y = q.y(); + p.point.pose.orientation.z = q.z(); + p.point.pose.orientation.w = q.w(); + + path.points.push_back(p); + } + return path; + } + + ShiftedPath generateShiftedPath(const double length, const std::vector & shifts) + { + ShiftedPath shifted_path; + shifted_path.path = generateStraightPath(length, 0.0); + shifted_path.shift_length = shifts; + return shifted_path; + } +}; + +TEST_F(SideShiftUtilsTest, SetOrientationStraightPath) +{ + // Generate straight path + auto path = generateStraightPath(10.0, 0.0); + + // Set orientation + setOrientation(&path); + + // Check orientation for each point + for (const auto & p : path.points) { + double yaw = tf2::getYaw(p.point.pose.orientation); + EXPECT_NEAR(yaw, 0.0, 1e-6); // Should be facing forward (0 rad) + } +} + +TEST_F(SideShiftUtilsTest, SetOrientationCurvedPath) +{ + PathWithLaneId path; + + // Create a 90-degree turn path + PathPointWithLaneId p1, p2, p3; + + p1.point.pose.position.x = 0.0; + p1.point.pose.position.y = 0.0; + p1.point.pose.position.z = 0.0; + + p2.point.pose.position.x = 1.0; + p2.point.pose.position.y = 0.0; + p2.point.pose.position.z = 0.0; + + p3.point.pose.position.x = 1.0; + p3.point.pose.position.y = 1.0; + p3.point.pose.position.z = 0.0; + + path.points = {p1, p2, p3}; + + setOrientation(&path); + + // First segment should face east (0 rad) + EXPECT_NEAR(tf2::getYaw(path.points[0].point.pose.orientation), 0.0, 1e-6); + + // Last segment should face north (π/2 rad) + EXPECT_NEAR(tf2::getYaw(path.points[2].point.pose.orientation), M_PI_2, 1e-6); +} + +TEST_F(SideShiftUtilsTest, GetClosestShiftLengthEmptyPath) +{ + ShiftedPath empty_path; + geometry_msgs::msg::Point ego_point; + ego_point.x = 0.0; + ego_point.y = 0.0; + + double shift = getClosestShiftLength(empty_path, ego_point); + EXPECT_DOUBLE_EQ(shift, 0.0); +} + +TEST_F(SideShiftUtilsTest, GetClosestShiftLengthStraightPath) +{ + // Generate path with constant shift + std::vector shifts(10, 2.0); // 10 points with 2.0m shift + auto shifted_path = generateShiftedPath(10.0, shifts); + + // Test points at different positions + geometry_msgs::msg::Point ego_point; + + // Point at start + ego_point.x = 0.0; + ego_point.y = 0.0; + EXPECT_DOUBLE_EQ(getClosestShiftLength(shifted_path, ego_point), 2.0); + + // Point in middle + ego_point.x = 5.0; + ego_point.y = 0.0; + EXPECT_DOUBLE_EQ(getClosestShiftLength(shifted_path, ego_point), 2.0); + + // Point at end + ego_point.x = 9.0; + ego_point.y = 0.0; + EXPECT_DOUBLE_EQ(getClosestShiftLength(shifted_path, ego_point), 2.0); +} + +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index d4e3a843a8319..0cb96bc9b3bf4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -2,6 +2,86 @@ Changelog for package autoware_behavior_path_start_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(start_planner): use extended current lanes to fix turn signal issue (`#9487 `_) + fix current lanes issue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_path_start_planner_module): fix clang-diagnostic-unused-variable (`#9405 `_) + fix: clang-diagnostic-unused-variable +* feat(start_planner): output velocity factor (`#9347 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858, stevenbrills + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, danielsanchezaran + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index bb70ae2638056..47eecb54e2b2a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -70,7 +70,7 @@ struct PullOutStatus Pose pull_out_start_pose{}; bool prev_is_safe_dynamic_objects{false}; std::shared_ptr prev_stop_path_after_approval{nullptr}; - std::optional stop_pose{std::nullopt}; + PoseWithDetailOpt stop_pose{std::nullopt}; //! record the first time when ego started forward-driving (maybe after backward driving //! completion) in AUTONOMOUS operation mode std::optional first_engaged_and_driving_forward_time{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml index 1d883477524b5..c7cabb403f164 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_start_planner_module - 0.38.0 + 0.40.0 The autoware_behavior_path_start_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp index f257904e141b6..42698f799c6b3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp @@ -21,6 +21,8 @@ #include +#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp index 13a9908b97daf..bbc6c05725434 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp @@ -22,6 +22,10 @@ #include +#include +#include +#include + using autoware::motion_utils::findNearestIndex; using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index aa3246eb3dac0..4759559619870 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -25,7 +25,10 @@ #include #include +#include +#include #include +#include #include using autoware::motion_utils::findNearestIndex; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 210afdcd7c1ea..c223390e454d1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -34,9 +34,13 @@ #include #include +#include +#include +#include #include #include #include +#include #include #include @@ -630,7 +634,7 @@ bool StartPlannerModule::isExecutionReady() const }(); if (!is_safe) { - stop_pose_ = planner_data_->self_odometry->pose.pose; + stop_pose_ = PoseWithDetail(planner_data_->self_odometry->pose.pose); } return is_safe; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index f6e5ba7526780..e162c187de824 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,107 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(autoware_behavior_path_static_obstacle_avoidance_module): add maintainer (`#9581 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(avoidance): remove stop reason (`#9364 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* perf(static_obstacle_avoidance): use lanelet::utils instead of route handle for closest lanelet (`#9367 `_) + use lanelet::utils for performance improvement +* perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions (`#9355 `_) + * add traffic light distance and modified goal allowance to avoidance data + * add closest lanelet related variable to avoidanceData structure + * use route handler for checking closest lanelet + * use std::optional + --------- +* feat(avoidance): output velocity factor (`#9345 `_) +* fix(static_obstacle_avoidance): override setInitState (`#9340 `_) + override setInitState +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* refactor(static obstacle avoidance): remove redundant calculation (`#9326 `_) + * refactor bases on clang tidy + * refactor extend backward length + * mover redundant calculation in getRoadShoulderDistance + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index 9509b9954304d..fe4a6d557da01 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -168,7 +168,7 @@ lanelet::ConstLanelets getExtendLanes( */ void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, - std::optional & p_out); + PoseWithDetailOpt & p_out); /** * @brief update envelope polygon based on object position reliability. diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 0a990ddf4cb52..5446e33073b13 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_static_obstacle_avoidance_module - 0.38.0 + 0.40.0 The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe @@ -14,6 +14,7 @@ Shumpei Wakabayashi Tomohito Ando Go Sakayori + Yukinari Hisaki Apache License 2.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index 997fb7353b14c..e7177768be3dd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index f7fc4ee48d364..be4ce4a125c68 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include namespace autoware::behavior_path_planner @@ -735,12 +736,11 @@ void StaticObstacleAvoidanceModule::fillDebugData( const auto prepare_distance = helper_->getNominalPrepareDistance(); const auto total_avoid_distance = prepare_distance + avoidance_distance + constant_distance; - dead_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose( + const auto dead_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose( data.reference_path.points, getEgoPosition(), o_front.longitudinal - total_avoid_distance); - - if (!dead_pose_) { - dead_pose_ = getPose(data.reference_path.points.front()); - } + dead_pose_ = dead_pose_opt.has_value() + ? PoseWithDetail(dead_pose_opt.value()) + : PoseWithDetail(getPose(data.reference_path.points.front())); } void StaticObstacleAvoidanceModule::updateEgoBehavior( @@ -1948,8 +1948,10 @@ void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_ shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_insert); } - slow_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose( + const auto slow_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose( shifted_path.path.points, start_idx, distance_to_object); + slow_pose_ = slow_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(slow_pose_opt.value())) + : std::nullopt; } void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const @@ -1996,8 +1998,10 @@ void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifte shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_target); } - slow_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose( + const auto slow_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose( shifted_path.path.points, start_idx, distance_to_accel_end_point); + slow_pose_ = slow_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(slow_pose_opt.value())) + : std::nullopt; } std::shared_ptr StaticObstacleAvoidanceModule::get_debug_msg_array() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 917736b1680db..744af35641a59 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -17,6 +17,11 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include +#include +#include +#include + namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index cc036b687b105..8c09cd2e011f9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -37,6 +37,7 @@ #include #include #include +#include #include namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance @@ -1511,7 +1512,7 @@ lanelet::ConstLanelets getExtendLanes( void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, - std::optional & p_out) + PoseWithDetailOpt & p_out) { const auto decel_point = autoware::motion_utils::calcLongitudinalOffsetPoint(path.points, p_src, offset); @@ -1540,7 +1541,7 @@ void insertDecelPoint( insertVelocity(path, velocity); - p_out = getPose(path.points.at(insert_idx.value())); + p_out = PoseWithDetail(getPose(path.points.at(insert_idx.value()))); } void fillObjectEnvelopePolygon( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index 8cf5696a89372..b6a8fd04f93db 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index 7b0cef7e00bb6..ffccd2d64c189 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -26,6 +26,9 @@ #include #include +#include +#include + namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance { @@ -820,7 +823,7 @@ TEST(TestUtils, insertDecelPoint) constexpr double offset = 100.0; constexpr double velocity = 1.0; - std::optional p_out{std::nullopt}; + PoseWithDetailOpt p_out{std::nullopt}; insertDecelPoint(ego_position, offset, velocity, path, p_out); EXPECT_FALSE(p_out.has_value()); @@ -838,13 +841,13 @@ TEST(TestUtils, insertDecelPoint) constexpr double offset = 3.0; constexpr double velocity = 1.0; - std::optional p_out{std::nullopt}; + PoseWithDetailOpt p_out{std::nullopt}; insertDecelPoint(ego_position, offset, velocity, path, p_out); ASSERT_TRUE(p_out.has_value()); - EXPECT_DOUBLE_EQ(p_out.value().position.x, 6.5); - EXPECT_DOUBLE_EQ(p_out.value().position.y, 0.0); - EXPECT_DOUBLE_EQ(p_out.value().position.z, 0.0); + EXPECT_DOUBLE_EQ(p_out.value().pose.position.x, 6.5); + EXPECT_DOUBLE_EQ(p_out.value().pose.position.y, 0.0); + EXPECT_DOUBLE_EQ(p_out.value().pose.position.z, 0.0); for (size_t i = 7; i < path.points.size(); i++) { EXPECT_DOUBLE_EQ(path.points.at(i).point.longitudinal_velocity_mps, 1.0); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index cca3b919daf18..0826b1f8193a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_behavior_velocity_blind_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(blind_spot): move util functions outside of class (`#9544 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* chore(blind_spot): divide headers to include/ (`#9534 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (`#9406 `_) + fix: clang-diagnostic-unused-parameter +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt index bdaa6d9f6aa2f..b4a688d711221 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt @@ -10,6 +10,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/manager.cpp src/scene.cpp src/decisions.cpp + src/util.cpp ) ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp similarity index 85% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.hpp rename to planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp index edc4ea502b396..f296ad03cbac6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MANAGER_HPP_ -#define MANAGER_HPP_ +#ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__MANAGER_HPP_ +#define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__MANAGER_HPP_ -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include #include @@ -52,4 +52,4 @@ class BlindSpotModulePlugin : public PluginWrapper } // namespace autoware::behavior_velocity_planner -#endif // MANAGER_HPP_ +#endif // AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__MANAGER_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp similarity index 70% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.hpp rename to planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp index 0c913964332ab..1bfa41d86ffbe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp @@ -12,20 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SCENE_HPP_ -#define SCENE_HPP_ +#ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ +#define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ +#include #include -#include #include #include -#include #include -#include -#include -#include #include #include @@ -37,21 +33,6 @@ namespace autoware::behavior_velocity_planner { -/** - * @brief wrapper class of interpolated path with lane id - */ -struct InterpolatedPathInfo -{ - /** the interpolated path */ - tier4_planning_msgs::msg::PathWithLaneId path; - /** discretization interval of interpolation */ - double ds{0.0}; - /** the intersection lanelet id */ - lanelet::Id lane_id{0}; - /** the range of indices for the path points with associative lane id */ - std::optional> lane_id_interval{std::nullopt}; -}; - /** * @brief represent action */ @@ -81,8 +62,6 @@ using BlindSpotDecision = std::variant virtual_wall_pose{std::nullopt}; @@ -114,7 +93,7 @@ class BlindSpotModule : public SceneModuleInterface * @brief plan go-stop velocity at traffic crossing with collision check between reference path * and object predicted path */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; std::vector createVirtualWalls() override; @@ -133,7 +112,7 @@ class BlindSpotModule : public SceneModuleInterface // Parameter void initializeRTCStatus(); - BlindSpotDecision modifyPathVelocityDetail(PathWithLaneId * path, StopReason * stop_reason); + BlindSpotDecision modifyPathVelocityDetail(PathWithLaneId * path); // setSafe(), setDistance() void setRTCStatus( const BlindSpotDecision & decision, const tier4_planning_msgs::msg::PathWithLaneId & path); @@ -141,18 +120,10 @@ class BlindSpotModule : public SceneModuleInterface void setRTCStatusByDecision( const Decision & decision, const tier4_planning_msgs::msg::PathWithLaneId & path); // stop/GO - void reactRTCApproval( - const BlindSpotDecision & decision, PathWithLaneId * path, StopReason * stop_reason); + void reactRTCApproval(const BlindSpotDecision & decision, PathWithLaneId * path); template void reactRTCApprovalByDecision( - const Decision & decision, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason); - - std::optional generateInterpolatedPathInfo( - const tier4_planning_msgs::msg::PathWithLaneId & input_path) const; - - std::optional getSiblingStraightLanelet( - const std::shared_ptr planner_data) const; + const Decision & decision, tier4_planning_msgs::msg::PathWithLaneId * path); /** * @brief Generate a stop line and insert it into the path. @@ -190,33 +161,6 @@ class BlindSpotModule : public SceneModuleInterface const geometry_msgs::msg::Pose & stop_line_pose, const lanelet::CompoundPolygon3d & area, const double ego_time_to_reach_stop_line); - /** - * @brief Create half lanelet - * @param lanelet input lanelet - * @return Half lanelet - */ - lanelet::ConstLanelet generateHalfLanelet(const lanelet::ConstLanelet lanelet) const; - - lanelet::ConstLanelet generateExtendedAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const; - lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const; - - lanelet::ConstLanelets generateBlindSpotLanelets( - const tier4_planning_msgs::msg::PathWithLaneId & path) const; - - /** - * @brief Make blind spot areas. Narrow area is made from closest path point to stop line index. - * Broad area is made from backward expanded point to stop line point - * @param path path information associated with lane id - * @param closest_idx closest path point index from ego car in path points - * @return Blind spot polygons - */ - std::optional generateBlindSpotPolygons( - const tier4_planning_msgs::msg::PathWithLaneId & path, const size_t closest_idx, - const lanelet::ConstLanelets & blind_spot_lanelets, - const geometry_msgs::msg::Pose & stop_line_pose) const; - /** * @brief Check if object is belong to targeted classes * @param object Dynamic object @@ -241,4 +185,4 @@ class BlindSpotModule : public SceneModuleInterface }; } // namespace autoware::behavior_velocity_planner -#endif // SCENE_HPP_ +#endif // AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp new file mode 100644 index 0000000000000..9d908414b6d95 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp @@ -0,0 +1,93 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__UTIL_HPP_ +#define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__UTIL_HPP_ + +#include + +#include + +#include +#include + +#include +#include +#include + +namespace autoware::behavior_velocity_planner +{ + +enum class TurnDirection { LEFT, RIGHT }; + +/** + * @brief wrapper class of interpolated path with lane id + */ +struct InterpolatedPathInfo +{ + /** the interpolated path */ + tier4_planning_msgs::msg::PathWithLaneId path; + /** discretization interval of interpolation */ + double ds{0.0}; + /** the intersection lanelet id */ + lanelet::Id lane_id{0}; + /** the range of indices for the path points with associative lane id */ + std::optional> lane_id_interval{std::nullopt}; +}; + +std::optional generateInterpolatedPathInfo( + const lanelet::Id lane_id, const tier4_planning_msgs::msg::PathWithLaneId & input_path, + rclcpp::Logger logger); + +std::optional getSiblingStraightLanelet( + const lanelet::Lanelet assigned_lane, + const lanelet::routing::RoutingGraphConstPtr routing_graph_ptr); + +/** + * @brief Create half lanelet + * @param lanelet input lanelet + * @return Half lanelet + */ +lanelet::ConstLanelet generateHalfLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection & turn_direction, + const double ignore_width_from_centerline); + +lanelet::ConstLanelet generateExtendedAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double adjacent_extend_width); +lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double opposite_adjacent_extend_width); + +lanelet::ConstLanelets generateBlindSpotLanelets( + const std::shared_ptr route_handler, + const TurnDirection turn_direction, const lanelet::Id lane_id, + const tier4_planning_msgs::msg::PathWithLaneId & path, const double ignore_width_from_centerline, + const double adjacent_extend_width, const double opposite_adjacent_extend_width); + +/** + * @brief Make blind spot areas. Narrow area is made from closest path point to stop line index. + * Broad area is made from backward expanded point to stop line point + * @param path path information associated with lane id + * @param closest_idx closest path point index from ego car in path points + * @return Blind spot polygons + */ +std::optional generateBlindSpotPolygons( + const tier4_planning_msgs::msg::PathWithLaneId & path, const size_t closest_idx, + const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose, const double backward_detection_length); + +} // namespace autoware::behavior_velocity_planner + +#endif // AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__UTIL_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index de5d791c06161..a2ea4a82a884d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -2,12 +2,13 @@ autoware_behavior_velocity_blind_spot_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_blind_spot_module package Mamoru Sobue Tomoya Kimura Shumpei Wakabayashi + Yukinari Hisaki Apache License 2.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp index 714280daad38e..2a6f4825ba414 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include #include @@ -24,6 +24,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index 116050871c722..64e1435167a89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include @@ -33,8 +33,7 @@ void BlindSpotModule::setRTCStatusByDecision( template void BlindSpotModule::reactRTCApprovalByDecision( [[maybe_unused]] const T & decision, - [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason) + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path) { static_assert("Unsupported type passed to reactRTCApprovalByDecision"); } @@ -53,8 +52,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( [[maybe_unused]] const InternalError & decision, - [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason) + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path) { return; } @@ -73,8 +71,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( [[maybe_unused]] const OverPassJudge & decision, - [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason) + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path) { return; } @@ -95,8 +92,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( - const Unsafe & decision, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason) + const Unsafe & decision, tier4_planning_msgs::msg::PathWithLaneId * path) { if (!isActivated()) { constexpr double stop_vel = 0.0; @@ -104,11 +100,7 @@ void BlindSpotModule::reactRTCApprovalByDecision( debug_data_.virtual_wall_pose = planning_utils::getAheadPose( decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); - tier4_planning_msgs::msg::StopFactor stop_factor; const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); } @@ -131,7 +123,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( - const Safe & decision, tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason) + const Safe & decision, tier4_planning_msgs::msg::PathWithLaneId * path) { if (!isActivated()) { constexpr double stop_vel = 0.0; @@ -139,11 +131,7 @@ void BlindSpotModule::reactRTCApprovalByDecision( debug_data_.virtual_wall_pose = planning_utils::getAheadPose( decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); - tier4_planning_msgs::msg::StopFactor stop_factor; const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp index 4e6cebeef2162..cc63b42df68e4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp @@ -12,7 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "manager.hpp" +#include "autoware/behavior_velocity_blind_spot_module/manager.hpp" + +#include "autoware/behavior_velocity_blind_spot_module/util.hpp" #include #include @@ -23,7 +25,6 @@ #include #include #include -#include namespace autoware::behavior_velocity_planner { @@ -69,9 +70,8 @@ void BlindSpotModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pa if (turn_direction_str != "left" && turn_direction_str != "right") { continue; } - const auto turn_direction = turn_direction_str == "left" - ? BlindSpotModule::TurnDirection::LEFT - : BlindSpotModule::TurnDirection::RIGHT; + const auto turn_direction = + turn_direction_str == "left" ? TurnDirection::LEFT : TurnDirection::RIGHT; registerModule(std::make_shared( module_id, lane_id, turn_direction, planner_data_, planner_param_, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp index 2eb54f91a3e26..7697786adb19d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp @@ -12,31 +12,24 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" + +#include "autoware/behavior_velocity_blind_spot_module/util.hpp" #include -#include #include #include -#include -#include #include -#include -#include -#include -#include +#include -#include #include -#include #include #include #include #include #include -#include #include #include @@ -55,7 +48,9 @@ BlindSpotModule::BlindSpotModule( is_over_pass_judge_line_(false) { velocity_factor_.init(PlanningBehavior::REAR_CHECK); - sibling_straight_lanelet_ = getSiblingStraightLanelet(planner_data); + sibling_straight_lanelet_ = getSiblingStraightLanelet( + planner_data->route_handler_->getLaneletMapPtr()->laneletLayer.get(lane_id_), + planner_data->route_handler_->getRoutingGraphPtr()); } void BlindSpotModule::initializeRTCStatus() @@ -64,8 +59,7 @@ void BlindSpotModule::initializeRTCStatus() setDistance(std::numeric_limits::lowest()); } -BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail(PathWithLaneId * path) { if (planner_param_.use_pass_judge_line && is_over_pass_judge_line_) { return OverPassJudge{"already over the pass judge line. no plan needed."}; @@ -73,7 +67,8 @@ BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail( const auto & input_path = *path; /* set stop-line and stop-judgement-line for base_link */ - const auto interpolated_path_info_opt = generateInterpolatedPathInfo(input_path); + const auto interpolated_path_info_opt = + generateInterpolatedPathInfo(lane_id_, input_path, logger_); if (!interpolated_path_info_opt) { return InternalError{"Failed to interpolate path"}; } @@ -106,7 +101,10 @@ BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail( } if (!blind_spot_lanelets_) { - const auto blind_spot_lanelets = generateBlindSpotLanelets(input_path); + const auto blind_spot_lanelets = generateBlindSpotLanelets( + planner_data_->route_handler_, turn_direction_, lane_id_, input_path, + planner_param_.ignore_width_from_center_line, planner_param_.adjacent_extend_width, + planner_param_.opposite_adjacent_extend_width); if (!blind_spot_lanelets.empty()) { blind_spot_lanelets_ = blind_spot_lanelets; } @@ -117,8 +115,8 @@ BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail( const auto & blind_spot_lanelets = blind_spot_lanelets_.value(); const auto detection_area_opt = generateBlindSpotPolygons( - input_path, closest_idx, blind_spot_lanelets, - path->points.at(critical_stopline_idx).point.pose); + input_path, closest_idx, blind_spot_lanelets, path->points.at(critical_stopline_idx).point.pose, + planner_param_.backward_detection_length); if (!detection_area_opt) { return InternalError{"Failed to generate BlindSpotPolygons"}; } @@ -160,100 +158,27 @@ void BlindSpotModule::setRTCStatus( decision); } -void BlindSpotModule::reactRTCApproval( - const BlindSpotDecision & decision, PathWithLaneId * path, StopReason * stop_reason) +void BlindSpotModule::reactRTCApproval(const BlindSpotDecision & decision, PathWithLaneId * path) { std::visit( - VisitorSwitch{[&](const auto & sub_decision) { - reactRTCApprovalByDecision(sub_decision, path, stop_reason); - }}, + VisitorSwitch{ + [&](const auto & sub_decision) { reactRTCApprovalByDecision(sub_decision, path); }}, decision); } -bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::BLIND_SPOT); initializeRTCStatus(); - const auto decision = modifyPathVelocityDetail(path, stop_reason); + const auto decision = modifyPathVelocityDetail(path); const auto & input_path = *path; setRTCStatus(decision, input_path); - reactRTCApproval(decision, path, stop_reason); + reactRTCApproval(decision, path); return true; } -static bool hasLaneIds( - const tier4_planning_msgs::msg::PathPointWithLaneId & p, const lanelet::Id id) -{ - for (const auto & pid : p.lane_ids) { - if (pid == id) { - return true; - } - } - return false; -} - -static std::optional> findLaneIdInterval( - const tier4_planning_msgs::msg::PathWithLaneId & p, const lanelet::Id id) -{ - bool found = false; - size_t start = 0; - size_t end = p.points.size() > 0 ? p.points.size() - 1 : 0; - if (start == end) { - // there is only one point in the path - return std::nullopt; - } - for (size_t i = 0; i < p.points.size(); ++i) { - if (hasLaneIds(p.points.at(i), id)) { - if (!found) { - // found interval for the first time - found = true; - start = i; - } - } else if (found) { - // prior point was in the interval. interval ended - end = i; - break; - } - } - start = start > 0 ? start - 1 : 0; // the idx of last point before the interval - return found ? std::make_optional(std::make_pair(start, end)) : std::nullopt; -} - -std::optional BlindSpotModule::generateInterpolatedPathInfo( - const tier4_planning_msgs::msg::PathWithLaneId & input_path) const -{ - constexpr double ds = 0.2; - InterpolatedPathInfo interpolated_path_info; - if (!splineInterpolate(input_path, ds, interpolated_path_info.path, logger_)) { - return std::nullopt; - } - interpolated_path_info.ds = ds; - interpolated_path_info.lane_id = lane_id_; - interpolated_path_info.lane_id_interval = - findLaneIdInterval(interpolated_path_info.path, lane_id_); - return interpolated_path_info; -} - -std::optional BlindSpotModule::getSiblingStraightLanelet( - const std::shared_ptr planner_data) const -{ - const auto lanelet_map_ptr = planner_data->route_handler_->getLaneletMapPtr(); - const auto routing_graph_ptr = planner_data->route_handler_->getRoutingGraphPtr(); - - const auto assigned_lane = lanelet_map_ptr->laneletLayer.get(lane_id_); - for (const auto & prev : routing_graph_ptr->previous(assigned_lane)) { - for (const auto & following : routing_graph_ptr->following(prev)) { - if (std::string(following.attributeOr("turn_direction", "else")) == "straight") { - return following; - } - } - } - return std::nullopt; -} - static std::optional getFirstPointIntersectsLineByFootprint( const lanelet::ConstLineString2d & line, const InterpolatedPathInfo & interpolated_path_info, const autoware::universe_utils::LinearRing2d & footprint, const double vehicle_length) @@ -445,7 +370,7 @@ double BlindSpotModule::computeTimeToPassStopLine( const lanelet::ConstLanelets & blind_spot_lanelets, const geometry_msgs::msg::Pose & stop_line_pose) const { - // egoが停止している時にそのまま速度を使うと衝突しなくなってしまうのでegoについては最低速度を使う + // if ego is completely stopped, using ego velocity yields "no-collision" const auto & current_pose = planner_data_->current_odometry->pose; const auto current_arc_ego = lanelet::utils::getArcCoordinates(blind_spot_lanelets, current_pose).length; @@ -495,220 +420,6 @@ std::optional BlindSpotModule::i return std::nullopt; } -lanelet::ConstLanelet BlindSpotModule::generateHalfLanelet( - const lanelet::ConstLanelet lanelet) const -{ - lanelet::Points3d lefts, rights; - - const double offset = (turn_direction_ == TurnDirection::LEFT) - ? planner_param_.ignore_width_from_center_line - : -planner_param_.ignore_width_from_center_line; - const auto offset_centerline = lanelet::utils::getCenterlineWithOffset(lanelet, offset); - - const auto original_left_bound = - (turn_direction_ == TurnDirection::LEFT) ? lanelet.leftBound() : offset_centerline; - const auto original_right_bound = - (turn_direction_ == TurnDirection::LEFT) ? offset_centerline : lanelet.rightBound(); - - for (const auto & pt : original_left_bound) { - lefts.push_back(lanelet::Point3d(pt)); - } - for (const auto & pt : original_right_bound) { - rights.push_back(lanelet::Point3d(pt)); - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); - auto half_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - return half_lanelet; -} - -lanelet::ConstLanelet BlindSpotModule::generateExtendedAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const -{ - const auto centerline = lanelet.centerline2d(); - const auto width = - boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); - const double extend_width = std::min(planner_param_.adjacent_extend_width, width); - const auto left_bound_ = - direction == TurnDirection::LEFT - ? lanelet::utils::getCenterlineWithOffset(lanelet, -width / 2 + extend_width) - : lanelet.leftBound(); - const auto right_bound_ = - direction == TurnDirection::RIGHT - ? lanelet::utils::getCenterlineWithOffset(lanelet, width / 2 - extend_width) - : lanelet.rightBound(); - lanelet::Points3d lefts, rights; - for (const auto & pt : left_bound_) { - lefts.push_back(lanelet::Point3d(pt)); - } - for (const auto & pt : right_bound_) { - rights.push_back(lanelet::Point3d(pt)); - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); - auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); - new_lanelet.setCenterline(new_centerline); - return new_lanelet; -} - -lanelet::ConstLanelet BlindSpotModule::generateExtendedOppositeAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const -{ - const auto centerline = lanelet.centerline2d(); - const auto width = - boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); - const double extend_width = - std::min(planner_param_.opposite_adjacent_extend_width, width); - const auto left_bound_ = - direction == TurnDirection::RIGHT - ? lanelet.rightBound().invert() - : lanelet::utils::getCenterlineWithOffset(lanelet.invert(), -width / 2 + extend_width); - const auto right_bound_ = - direction == TurnDirection::RIGHT - ? lanelet::utils::getCenterlineWithOffset(lanelet.invert(), width / 2 - extend_width) - : lanelet.leftBound().invert(); - lanelet::Points3d lefts, rights; - for (const auto & pt : left_bound_) { - lefts.push_back(lanelet::Point3d(pt)); - } - for (const auto & pt : right_bound_) { - rights.push_back(lanelet::Point3d(pt)); - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); - auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); - new_lanelet.setCenterline(new_centerline); - return new_lanelet; -} - -static lanelet::LineString3d removeConst(lanelet::ConstLineString3d line) -{ - lanelet::Points3d pts; - for (const auto & pt : line) { - pts.push_back(lanelet::Point3d(pt)); - } - return lanelet::LineString3d(lanelet::InvalId, pts); -} - -lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets( - const tier4_planning_msgs::msg::PathWithLaneId & path) const -{ - /* get lanelet map */ - const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); - const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); - - std::vector lane_ids; - /* get lane ids until intersection */ - for (const auto & point : path.points) { - bool found_intersection_lane = false; - for (const auto lane_id : point.lane_ids) { - if (lane_id == lane_id_) { - found_intersection_lane = true; - lane_ids.push_back(lane_id); - break; - } - // make lane_ids unique - if (std::find(lane_ids.begin(), lane_ids.end(), lane_id) == lane_ids.end()) { - lane_ids.push_back(lane_id); - } - } - if (found_intersection_lane) break; - } - - lanelet::ConstLanelets blind_spot_lanelets; - for (const auto i : lane_ids) { - const auto lane = lanelet_map_ptr->laneletLayer.get(i); - const auto ego_half_lanelet = generateHalfLanelet(lane); - const auto assoc_adj = - turn_direction_ == TurnDirection::LEFT - ? (routing_graph_ptr->adjacentLeft(lane)) - : (turn_direction_ == TurnDirection::RIGHT ? (routing_graph_ptr->adjacentRight(lane)) - : boost::none); - const std::optional opposite_adj = - [&]() -> std::optional { - if (!!assoc_adj) { - return std::nullopt; - } - if (turn_direction_ == TurnDirection::LEFT) { - // this should exist in right-hand traffic - const auto adjacent_lanes = - lanelet_map_ptr->laneletLayer.findUsages(lane.leftBound().invert()); - if (adjacent_lanes.empty()) { - return std::nullopt; - } - return adjacent_lanes.front(); - } - if (turn_direction_ == TurnDirection::RIGHT) { - // this should exist in left-hand traffic - const auto adjacent_lanes = - lanelet_map_ptr->laneletLayer.findUsages(lane.rightBound().invert()); - if (adjacent_lanes.empty()) { - return std::nullopt; - } - return adjacent_lanes.front(); - } else { - return std::nullopt; - } - }(); - - const auto assoc_shoulder = [&]() -> std::optional { - if (turn_direction_ == TurnDirection::LEFT) { - return planner_data_->route_handler_->getLeftShoulderLanelet(lane); - } else if (turn_direction_ == TurnDirection::RIGHT) { - return planner_data_->route_handler_->getRightShoulderLanelet(lane); - } - return std::nullopt; - }(); - if (assoc_shoulder) { - const auto lefts = (turn_direction_ == TurnDirection::LEFT) - ? assoc_shoulder.value().leftBound() - : ego_half_lanelet.leftBound(); - const auto rights = (turn_direction_ == TurnDirection::LEFT) - ? ego_half_lanelet.rightBound() - : assoc_shoulder.value().rightBound(); - blind_spot_lanelets.push_back( - lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); - - } else if (!!assoc_adj) { - const auto adj_half_lanelet = - generateExtendedAdjacentLanelet(assoc_adj.value(), turn_direction_); - const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() - : ego_half_lanelet.leftBound(); - const auto rights = (turn_direction_ == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound() - : ego_half_lanelet.rightBound(); - blind_spot_lanelets.push_back( - lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); - } else if (opposite_adj) { - const auto adj_half_lanelet = - generateExtendedOppositeAdjacentLanelet(opposite_adj.value(), turn_direction_); - const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() - : ego_half_lanelet.leftBound(); - const auto rights = (turn_direction_ == TurnDirection::LEFT) ? ego_half_lanelet.rightBound() - : adj_half_lanelet.rightBound(); - blind_spot_lanelets.push_back( - lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); - } else { - blind_spot_lanelets.push_back(ego_half_lanelet); - } - } - return blind_spot_lanelets; -} - -std::optional BlindSpotModule::generateBlindSpotPolygons( - [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path, - [[maybe_unused]] const size_t closest_idx, const lanelet::ConstLanelets & blind_spot_lanelets, - const geometry_msgs::msg::Pose & stop_line_pose) const -{ - const auto stop_line_arc_ego = - lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; - const auto detection_area_start_length_ego = - std::max(stop_line_arc_ego - planner_param_.backward_detection_length, 0.0); - return lanelet::utils::getPolygonFromArcLength( - blind_spot_lanelets, detection_area_start_length_ego, stop_line_arc_ego); -} - bool BlindSpotModule::isTargetObjectType( const autoware_perception_msgs::msg::PredictedObject & object) const { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp new file mode 100644 index 0000000000000..5c5aa0a26b3b4 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp @@ -0,0 +1,320 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include + +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +namespace autoware::behavior_velocity_planner +{ + +namespace +{ +static bool hasLaneIds( + const tier4_planning_msgs::msg::PathPointWithLaneId & p, const lanelet::Id id) +{ + for (const auto & pid : p.lane_ids) { + if (pid == id) { + return true; + } + } + return false; +} + +static std::optional> findLaneIdInterval( + const tier4_planning_msgs::msg::PathWithLaneId & p, const lanelet::Id id) +{ + bool found = false; + size_t start = 0; + size_t end = p.points.size() > 0 ? p.points.size() - 1 : 0; + if (start == end) { + // there is only one point in the path + return std::nullopt; + } + for (size_t i = 0; i < p.points.size(); ++i) { + if (hasLaneIds(p.points.at(i), id)) { + if (!found) { + // found interval for the first time + found = true; + start = i; + } + } else if (found) { + // prior point was in the interval. interval ended + end = i; + break; + } + } + start = start > 0 ? start - 1 : 0; // the idx of last point before the interval + return found ? std::make_optional(std::make_pair(start, end)) : std::nullopt; +} +} // namespace + +std::optional generateInterpolatedPathInfo( + const lanelet::Id lane_id, const tier4_planning_msgs::msg::PathWithLaneId & input_path, + rclcpp::Logger logger) +{ + constexpr double ds = 0.2; + InterpolatedPathInfo interpolated_path_info; + if (!splineInterpolate(input_path, ds, interpolated_path_info.path, logger)) { + return std::nullopt; + } + interpolated_path_info.ds = ds; + interpolated_path_info.lane_id = lane_id; + interpolated_path_info.lane_id_interval = + findLaneIdInterval(interpolated_path_info.path, lane_id); + return interpolated_path_info; +} + +std::optional getSiblingStraightLanelet( + const lanelet::Lanelet assigned_lane, + const lanelet::routing::RoutingGraphConstPtr routing_graph_ptr) +{ + for (const auto & prev : routing_graph_ptr->previous(assigned_lane)) { + for (const auto & following : routing_graph_ptr->following(prev)) { + if (std::string(following.attributeOr("turn_direction", "else")) == "straight") { + return following; + } + } + } + return std::nullopt; +} + +lanelet::ConstLanelet generateHalfLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection & turn_direction, + const double ignore_width_from_centerline) +{ + lanelet::Points3d lefts, rights; + + const double offset = (turn_direction == TurnDirection::LEFT) ? ignore_width_from_centerline + : -ignore_width_from_centerline; + const auto offset_centerline = lanelet::utils::getCenterlineWithOffset(lanelet, offset); + + const auto original_left_bound = + (turn_direction == TurnDirection::LEFT) ? lanelet.leftBound() : offset_centerline; + const auto original_right_bound = + (turn_direction == TurnDirection::LEFT) ? offset_centerline : lanelet.rightBound(); + + for (const auto & pt : original_left_bound) { + lefts.emplace_back(pt); + } + for (const auto & pt : original_right_bound) { + rights.emplace_back(pt); + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); + auto half_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + return half_lanelet; +} + +lanelet::ConstLanelet generateExtendedAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double adjacent_extend_width) +{ + const auto centerline = lanelet.centerline2d(); + const auto width = + boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); + const double extend_width = std::min(adjacent_extend_width, width); + const auto left_bound_ = + direction == TurnDirection::LEFT + ? lanelet::utils::getCenterlineWithOffset(lanelet, -width / 2 + extend_width) + : lanelet.leftBound(); + const auto right_bound_ = + direction == TurnDirection::RIGHT + ? lanelet::utils::getCenterlineWithOffset(lanelet, width / 2 - extend_width) + : lanelet.rightBound(); + lanelet::Points3d lefts, rights; + for (const auto & pt : left_bound_) { + lefts.emplace_back(pt); + } + for (const auto & pt : right_bound_) { + rights.emplace_back(pt); + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); + auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); + new_lanelet.setCenterline(new_centerline); + return new_lanelet; +} + +lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double opposite_adjacent_extend_width) +{ + const auto centerline = lanelet.centerline2d(); + const auto width = + boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); + const double extend_width = std::min(opposite_adjacent_extend_width, width); + const auto left_bound_ = + direction == TurnDirection::RIGHT + ? lanelet.rightBound().invert() + : lanelet::utils::getCenterlineWithOffset(lanelet.invert(), -width / 2 + extend_width); + const auto right_bound_ = + direction == TurnDirection::RIGHT + ? lanelet::utils::getCenterlineWithOffset(lanelet.invert(), width / 2 - extend_width) + : lanelet.leftBound().invert(); + lanelet::Points3d lefts, rights; + for (const auto & pt : left_bound_) { + lefts.emplace_back(pt); + } + for (const auto & pt : right_bound_) { + rights.emplace_back(pt); + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); + auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); + new_lanelet.setCenterline(new_centerline); + return new_lanelet; +} + +static lanelet::LineString3d removeConst(lanelet::ConstLineString3d line) +{ + lanelet::Points3d pts; + for (const auto & pt : line) { + pts.emplace_back(pt); + } + return lanelet::LineString3d(lanelet::InvalId, pts); +} + +lanelet::ConstLanelets generateBlindSpotLanelets( + const std::shared_ptr route_handler, + const TurnDirection turn_direction, const lanelet::Id lane_id, + const tier4_planning_msgs::msg::PathWithLaneId & path, const double ignore_width_from_centerline, + const double adjacent_extend_width, const double opposite_adjacent_extend_width) +{ + const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); + const auto routing_graph_ptr = route_handler->getRoutingGraphPtr(); + + std::vector lane_ids; + /* get lane ids until intersection */ + for (const auto & point : path.points) { + bool found_intersection_lane = false; + for (const auto id : point.lane_ids) { + if (id == lane_id) { + found_intersection_lane = true; + lane_ids.push_back(lane_id); + break; + } + // make lane_ids unique + if (std::find(lane_ids.begin(), lane_ids.end(), lane_id) == lane_ids.end()) { + lane_ids.push_back(lane_id); + } + } + if (found_intersection_lane) break; + } + + lanelet::ConstLanelets blind_spot_lanelets; + for (const auto i : lane_ids) { + const auto lane = lanelet_map_ptr->laneletLayer.get(i); + const auto ego_half_lanelet = + generateHalfLanelet(lane, turn_direction, ignore_width_from_centerline); + const auto assoc_adj = + turn_direction == TurnDirection::LEFT + ? (routing_graph_ptr->adjacentLeft(lane)) + : (turn_direction == TurnDirection::RIGHT ? (routing_graph_ptr->adjacentRight(lane)) + : boost::none); + const std::optional opposite_adj = + [&]() -> std::optional { + if (!!assoc_adj) { + return std::nullopt; + } + if (turn_direction == TurnDirection::LEFT) { + // this should exist in right-hand traffic + const auto adjacent_lanes = + lanelet_map_ptr->laneletLayer.findUsages(lane.leftBound().invert()); + if (adjacent_lanes.empty()) { + return std::nullopt; + } + return adjacent_lanes.front(); + } + if (turn_direction == TurnDirection::RIGHT) { + // this should exist in left-hand traffic + const auto adjacent_lanes = + lanelet_map_ptr->laneletLayer.findUsages(lane.rightBound().invert()); + if (adjacent_lanes.empty()) { + return std::nullopt; + } + return adjacent_lanes.front(); + } else { + return std::nullopt; + } + }(); + + const auto assoc_shoulder = [&]() -> std::optional { + if (turn_direction == TurnDirection::LEFT) { + return route_handler->getLeftShoulderLanelet(lane); + } else if (turn_direction == TurnDirection::RIGHT) { + return route_handler->getRightShoulderLanelet(lane); + } + return std::nullopt; + }(); + if (assoc_shoulder) { + const auto lefts = (turn_direction == TurnDirection::LEFT) + ? assoc_shoulder.value().leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction == TurnDirection::LEFT) + ? ego_half_lanelet.rightBound() + : assoc_shoulder.value().rightBound(); + blind_spot_lanelets.emplace_back(lanelet::InvalId, removeConst(lefts), removeConst(rights)); + + } else if (!!assoc_adj) { + const auto adj_half_lanelet = + generateExtendedAdjacentLanelet(assoc_adj.value(), turn_direction, adjacent_extend_width); + const auto lefts = (turn_direction == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound() + : ego_half_lanelet.rightBound(); + blind_spot_lanelets.emplace_back(lanelet::InvalId, removeConst(lefts), removeConst(rights)); + } else if (opposite_adj) { + const auto adj_half_lanelet = generateExtendedOppositeAdjacentLanelet( + opposite_adj.value(), turn_direction, opposite_adjacent_extend_width); + const auto lefts = (turn_direction == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction == TurnDirection::LEFT) ? ego_half_lanelet.rightBound() + : adj_half_lanelet.rightBound(); + blind_spot_lanelets.emplace_back(lanelet::InvalId, removeConst(lefts), removeConst(rights)); + } else { + blind_spot_lanelets.push_back(ego_half_lanelet); + } + } + return blind_spot_lanelets; +} + +std::optional generateBlindSpotPolygons( + [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path, + [[maybe_unused]] const size_t closest_idx, const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose, const double backward_detection_length) +{ + const auto stop_line_arc_ego = + lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; + const auto detection_area_start_length_ego = + std::max(stop_line_arc_ego - backward_detection_length, 0.0); + return lanelet::utils::getPolygonFromArcLength( + blind_spot_lanelets, detection_area_start_length_ego, stop_line_arc_ego); +} + +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index f9fe6b4479c0a..608d6ab37fdc4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -2,6 +2,52 @@ Changelog for package autoware_behavior_velocity_crosswalk_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(crosswalk)!: delete wide crosswalk corresponding function (`#9329 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) +* test(crosswalk): add unit test (`#9228 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) +* test(crosswalk): add unit test (`#9228 `_) +* Contributors: Esteve Fernandez, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index e6a0d93575f80..6b939a7dd0be9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_crosswalk_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_crosswalk_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 51a0b4aa23fde..1bea0626b0b2f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -35,7 +35,9 @@ #include #include #include +#include #include +#include #include namespace autoware::behavior_velocity_planner @@ -201,7 +203,7 @@ CrosswalkModule::CrosswalkModule( node.create_publisher("~/debug/collision_info", 1); } -bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path) { if (path->points.size() < 2) { RCLCPP_DEBUG(logger_, "Do not interpolate because path size is less than 2."); @@ -213,7 +215,6 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto logger_, planner_param_.show_processing_time, "=========== module_id: %ld ===========", module_id_); - *stop_reason = planning_utils::initializeStopReason(StopReason::CROSSWALK); const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto objects_ptr = planner_data_->predicted_objects; @@ -274,7 +275,7 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto if (isActivated()) { planGo(*path, nearest_stop_factor); } else { - planStop(*path, nearest_stop_factor, default_stop_pose, stop_reason); + planStop(*path, nearest_stop_factor, default_stop_pose); } recordTime(4); @@ -1353,7 +1354,7 @@ void CrosswalkModule::planGo( void CrosswalkModule::planStop( PathWithLaneId & ego_path, const std::optional & nearest_stop_factor, - const std::optional & default_stop_pose, StopReason * stop_reason) + const std::optional & default_stop_pose) { // Calculate stop factor auto stop_factor = [&]() -> std::optional { @@ -1376,7 +1377,6 @@ void CrosswalkModule::planStop( // Plan stop insertDecelPointWithDebugInfo(stop_factor->stop_pose.position, 0.0, ego_path); - planning_utils::appendStopReason(*stop_factor, stop_reason); velocity_factor_.set( ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose, VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index de696aa670ad3..8577ed1669b48 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -39,6 +39,7 @@ #include #include +#include #include #include #include @@ -336,7 +337,7 @@ class CrosswalkModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -399,7 +400,7 @@ class CrosswalkModule : public SceneModuleInterface void planStop( PathWithLaneId & ego_path, const std::optional & nearest_stop_factor, - const std::optional & default_stop_pose, StopReason * stop_reason); + const std::optional & default_stop_pose); // minor functions std::pair getAttentionRange( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp index a72c866a85cef..50de1b1a8e1ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp @@ -34,6 +34,7 @@ #include #include #include +#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp index b626ef1772853..8af879578ed89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(CrosswalkTest, CheckInterpolateEgoPassMargin) { namespace bvp = autoware::behavior_velocity_planner; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst index 2db48d466139c..fc13807261e4f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -2,6 +2,58 @@ Changelog for package autoware_behavior_velocity_detection_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(detection_area)!: add retruction feature (`#9255 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(detection_area)!: add retruction feature (`#9255 `_) +* Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index 14a1723f3be2a..ff91cf40a32a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_detection_area_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_detection_area_module package Kyoichi Sugahara diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index abbb818f2b042..61b3b185999d8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -47,7 +47,7 @@ DetectionAreaModule::DetectionAreaModule( velocity_factor_.init(PlanningBehavior::USER_DEFINED_DETECTION_AREA); } -bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path) { // Store original path const auto original_path = *path; @@ -55,7 +55,6 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Reset data debug_data_ = DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - *stop_reason = planning_utils::initializeStopReason(StopReason::DETECTION_AREA); // Find obstacles in detection area const auto obstacle_points = detection_area::get_obstacle_points( @@ -184,28 +183,11 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Create StopReason { - StopFactor stop_factor{}; - stop_factor.stop_pose = stop_point->second; - stop_factor.stop_factor_points = obstacle_points; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_point->second, VelocityFactor::UNKNOWN); } - // Create legacy StopReason - { - const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( - path->points, 0, stop_pose.position, stop_point->first); - - if ( - !first_stop_path_point_distance_ || - stop_path_point_distance < first_stop_path_point_distance_.value()) { - debug_data_.first_stop_pose = stop_point->second; - first_stop_path_point_distance_ = stop_path_point_distance; - } - } - return true; } } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp index 46bb46bcdeb61..9224cf4624687 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp @@ -70,7 +70,7 @@ class DetectionAreaModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp index 6b3bf416e6d99..0d721fc81bcee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp @@ -22,7 +22,9 @@ #include #include +#include #include +#include namespace { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index d7e0b2d2fd5ae..013fd3b9b54cb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -2,6 +2,65 @@ Changelog for package autoware_behavior_velocity_intersection_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-parameter (`#9409 `_) + fix: clang-diagnostic-unused-parameter +* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-lambda-capture (`#9407 `_) + fix: clang-diagnostic-unused-parameter +* chore(autoware_behavior_velocity_intersection_module): include opencv as system (`#9330 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index f80aed04512cc..b056f71614da3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_intersection_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_intersection_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp index ffffa4da8f4a1..e50bc041cbc89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp @@ -22,6 +22,8 @@ #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp index c211e1f43783e..bfdc36afa9011 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp @@ -14,6 +14,8 @@ #include "decision_result.hpp" +#include + namespace autoware::behavior_velocity_planner { std::string formatDecisionResult( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp index d93fbf271aa1d..9fd5ba4ab7d5c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include #include namespace diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 8115f52437a04..6f7841ebb0bbb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -36,6 +36,9 @@ #include #include #include +#include +#include +#include #include namespace autoware::behavior_velocity_planner @@ -91,14 +94,13 @@ IntersectionModule::IntersectionModule( "~/debug/intersection/object_ttc", 1); } -bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::INTERSECTION); initializeRTCStatus(); - const auto decision_result = modifyPathVelocityDetail(path, stop_reason); + const auto decision_result = modifyPathVelocityDetail(path); prev_decision_result_ = decision_result; { @@ -110,7 +112,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * prepareRTCStatus(decision_result, *path); - reactRTCApproval(decision_result, path, stop_reason); + reactRTCApproval(decision_result, path); return true; } @@ -145,8 +147,7 @@ static std::string formatOcclusionType(const IntersectionModule::OcclusionType & return "RTCOccluded"; } -DecisionResult IntersectionModule::modifyPathVelocityDetail( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +DecisionResult IntersectionModule::modifyPathVelocityDetail(PathWithLaneId * path) { const auto prepare_data = prepareIntersectionData(path); if (!prepare_data) { @@ -683,7 +684,6 @@ void prepareRTCByDecisionResult( *occlusion_safety = true; *occlusion_distance = autoware::motion_utils::calcSignedArcLength(path.points, closest_idx, occlusion_stopline_idx); - return; } void IntersectionModule::prepareRTCStatus( @@ -711,7 +711,6 @@ void reactRTCApprovalByDecisionResult( [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, [[maybe_unused]] const double baselink2front, [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason, [[maybe_unused]] VelocityFactorInterface * velocity_factor, [[maybe_unused]] IntersectionModule::DebugData * debug_data) { @@ -727,7 +726,6 @@ void reactRTCApprovalByDecisionResult( [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, [[maybe_unused]] const double baselink2front, [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason, [[maybe_unused]] VelocityFactorInterface * velocity_factor, [[maybe_unused]] IntersectionModule::DebugData * debug_data) { @@ -742,7 +740,6 @@ void reactRTCApprovalByDecisionResult( [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, [[maybe_unused]] const double baselink2front, [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason, [[maybe_unused]] VelocityFactorInterface * velocity_factor, [[maybe_unused]] IntersectionModule::DebugData * debug_data) { @@ -755,8 +752,7 @@ void reactRTCApprovalByDecisionResult( const StuckStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -770,10 +766,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data->unsafe_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -785,9 +777,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(occlusion_stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(occlusion_stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(closest_idx).point.pose, path->points.at(occlusion_stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -802,8 +791,7 @@ void reactRTCApprovalByDecisionResult( const YieldStuckStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -817,10 +805,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data->unsafe_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -835,8 +819,7 @@ void reactRTCApprovalByDecisionResult( const NonOccludedCollisionStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -848,9 +831,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -862,9 +842,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -878,8 +855,8 @@ void reactRTCApprovalByDecisionResult( const bool rtc_default_approved, const bool rtc_occlusion_approved, const FirstWaitBeforeOcclusion & decision_result, const IntersectionModule::PlannerParam & planner_param, const double baselink2front, - tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason, - VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) + tier4_planning_msgs::msg::PathWithLaneId * path, VelocityFactorInterface * velocity_factor, + IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -891,9 +868,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_first_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -913,9 +887,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -929,8 +900,8 @@ void reactRTCApprovalByDecisionResult( const bool rtc_default_approved, const bool rtc_occlusion_approved, const PeekingTowardOcclusion & decision_result, const IntersectionModule::PlannerParam & planner_param, const double baselink2front, - tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason, - VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) + tier4_planning_msgs::msg::PathWithLaneId * path, VelocityFactorInterface * velocity_factor, + IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -955,9 +926,6 @@ void reactRTCApprovalByDecisionResult( debug_data->static_occlusion_with_traffic_light_timeout = decision_result.static_occlusion_timeout; { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(occlusion_peeking_stopline).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(occlusion_peeking_stopline).point.pose, VelocityFactor::UNKNOWN); @@ -969,9 +937,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -986,8 +951,7 @@ void reactRTCApprovalByDecisionResult( const OccludedCollisionStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -999,9 +963,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1017,9 +978,6 @@ void reactRTCApprovalByDecisionResult( debug_data->static_occlusion_with_traffic_light_timeout = decision_result.static_occlusion_timeout; { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1034,8 +992,7 @@ void reactRTCApprovalByDecisionResult( const OccludedAbsenceTrafficLight & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -1047,9 +1004,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1061,9 +1015,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1087,8 +1038,7 @@ void reactRTCApprovalByDecisionResult( const bool rtc_default_approved, const bool rtc_occlusion_approved, const Safe & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -1099,9 +1049,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1113,9 +1060,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1130,8 +1074,7 @@ void reactRTCApprovalByDecisionResult( const FullyPrioritized & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -1143,9 +1086,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1157,9 +1097,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1169,15 +1106,14 @@ void reactRTCApprovalByDecisionResult( } void IntersectionModule::reactRTCApproval( - const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason) + const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path) { const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; std::visit( VisitorSwitch{[&](const auto & decision) { reactRTCApprovalByDecisionResult( activated_, occlusion_activated_, decision, planner_param_, baselink2front, path, - stop_reason, &velocity_factor_, &debug_data_); + &velocity_factor_, &debug_data_); }}, decision_result); return; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp index 8ffb4792f55db..b718dd84d33af 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp @@ -321,7 +321,7 @@ class IntersectionModule : public SceneModuleInterface * INTERSECTION_OCCLUSION. * @{ */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; /** @}*/ visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; @@ -504,7 +504,7 @@ class IntersectionModule : public SceneModuleInterface /** * @brief analyze traffic_light/occupancy/objects context and return DecisionResult */ - DecisionResult modifyPathVelocityDetail(PathWithLaneId * path, StopReason * stop_reason); + DecisionResult modifyPathVelocityDetail(PathWithLaneId * path); /** * @brief set RTC value according to calculated DecisionResult @@ -516,8 +516,7 @@ class IntersectionModule : public SceneModuleInterface * @brief act based on current RTC approval */ void reactRTCApproval( - const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason); + const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path); /** @}*/ private: diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp index 54af88c2f0fbb..5a66bec15bab1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp @@ -30,6 +30,14 @@ #include #include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::behavior_velocity_planner { namespace bg = boost::geometry; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp index ec174be990e66..bbe76702a5faf 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp @@ -23,7 +23,11 @@ #include +#include +#include #include +#include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index b694c8aaa2e3e..70e1d219c0d31 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -31,6 +31,13 @@ #include #include +#include +#include +#include +#include +#include +#include + namespace autoware::universe_utils { @@ -938,7 +945,7 @@ std::vector IntersectionModule::generateDetectionLan if (detection_lanelets.empty()) { // NOTE(soblin): due to the above filtering detection_lanelets may be empty or do not contain // conflicting_detection_lanelets - // OK to return empty detction_divsions + // OK to return empty detection_divisions return detection_divisions; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp index 78365bc5e500f..35f4e3b34dbee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp @@ -26,6 +26,10 @@ #include #include +#include +#include +#include + namespace { lanelet::LineString3d getLineStringFromArcLength( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index d5cd9ca587716..3dfdcc36c0cff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include @@ -76,10 +77,9 @@ static std::optional getFirstConflictingLanelet( return std::nullopt; } -bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::MERGE_FROM_PRIVATE_ROAD); const auto input_path = *path; @@ -152,9 +152,6 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR planning_utils::setVelocityFromIndex(stopline_idx, v, path); /* get stop point and stop factor */ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = debug_data_.stop_point_pose; - planning_utils::appendStopReason(stop_factor, stop_reason); const auto & stop_pose = path->points.at(stopline_idx).point.pose; velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp index a69297adea881..dc8bf1a96a7a2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp @@ -67,7 +67,7 @@ class MergeFromPrivateRoadModule : public SceneModuleInterface * @brief plan go-stop velocity at traffic crossing with collision check between reference path * and object predicted path */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp index 6474435afa26e..5c9b74a9ad3bd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp @@ -39,6 +39,7 @@ #include #include #include +#include #include namespace autoware::behavior_velocity_planner::util diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp index d9ef145eb5ce9..959481493ccfe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp @@ -20,6 +20,8 @@ #include +#include + TEST(TestUtil, retrievePathsBackward) { /* @@ -89,7 +91,7 @@ TEST(TestUtil, retrievePathsBackward) } /* - TOOD(Mamoru Sobue): instantiating intersection_module and PlannerData is a messy + TODO(Mamoru Sobue): instantiating intersection_module and PlannerData is a messy class TestWithMap : public ::testing::Test { protected: diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index 6befa38af63e1..3ad226a0a0f71 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml index f4e71d5bff78e..3ac9bab0c2fdf 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_drivable_lane_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_no_drivable_lane_module package Ahmed Ebrahim diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp index 9cb37a899063d..9cb1153a8edd2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp index c3af04bbd1d1f..8365251904b18 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp @@ -37,14 +37,12 @@ NoDrivableLaneModule::NoDrivableLaneModule( velocity_factor_.init(PlanningBehavior::NO_DRIVABLE_LANE); } -bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path) { if (path->points.empty()) { return false; } - *stop_reason = planning_utils::initializeStopReason(StopReason::NO_DRIVABLE_LANE); - const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto & lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); const auto & no_drivable_lane = lanelet_map_ptr->laneletLayer.get(lane_id_); @@ -82,7 +80,7 @@ bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason RCLCPP_INFO(logger_, "Approaching "); } - handle_approaching_state(path, stop_reason); + handle_approaching_state(path); break; } @@ -92,7 +90,7 @@ bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason RCLCPP_INFO(logger_, "INSIDE_NO_DRIVABLE_LANE"); } - handle_inside_no_drivable_lane_state(path, stop_reason); + handle_inside_no_drivable_lane_state(path); break; } @@ -102,7 +100,7 @@ bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason RCLCPP_INFO(logger_, "STOPPED"); } - handle_stopped_state(path, stop_reason); + handle_stopped_state(path); break; } @@ -131,7 +129,7 @@ void NoDrivableLaneModule::handle_init_state() } } -void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopReason * stop_reason) +void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path) { const double longitudinal_offset = -1.0 * (planner_param_.stop_margin + planner_data_->vehicle_info_.max_longitudinal_offset_m); @@ -163,11 +161,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopR // Get stop point and stop factor { - tier4_planning_msgs::msg::StopFactor stop_factor; const auto & stop_pose = op_stop_pose.value(); - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(stop_point); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::APPROACHING); @@ -205,8 +199,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopR } } -void NoDrivableLaneModule::handle_inside_no_drivable_lane_state( - PathWithLaneId * path, StopReason * stop_reason) +void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId * path) { const auto & current_point = planner_data_->current_odometry->pose.position; const size_t current_seg_idx = findEgoSegmentIndex(path->points); @@ -216,11 +209,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state( // Get stop point and stop factor { - tier4_planning_msgs::msg::StopFactor stop_factor; const auto & stop_pose = autoware::universe_utils::getPose(path->points.at(0)); - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(current_point); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::APPROACHING); @@ -239,7 +228,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state( } } -void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path, StopReason * stop_reason) +void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path) { const auto & stopped_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, planner_data_->current_odometry->pose.position, 0.0); @@ -258,11 +247,7 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path, StopReaso // Get stop point and stop factor { - tier4_planning_msgs::msg::StopFactor stop_factor; const auto & stop_pose = ego_pos_on_path.pose; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(stop_pose.position); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::STOPPED); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp index d9e6121a8ae51..d8c5e3e0425d1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp @@ -57,7 +57,7 @@ class NoDrivableLaneModule : public SceneModuleInterface const int64_t module_id, const int64_t lane_id, const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -79,9 +79,9 @@ class NoDrivableLaneModule : public SceneModuleInterface double distance_ego_first_intersection{}; void handle_init_state(); - void handle_approaching_state(PathWithLaneId * path, StopReason * stop_reason); - void handle_inside_no_drivable_lane_state(PathWithLaneId * path, StopReason * stop_reason); - void handle_stopped_state(PathWithLaneId * path, StopReason * stop_reason); + void handle_approaching_state(PathWithLaneId * path); + void handle_inside_no_drivable_lane_state(PathWithLaneId * path); + void handle_stopped_state(PathWithLaneId * path); void initialize_debug_data( const lanelet::Lanelet & no_drivable_lane, const geometry_msgs::msg::Point & ego_pos); }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp index 25315fd397aa4..7da73a313da79 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index 130aa5c56cd48..177028582aceb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -2,6 +2,58 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index bc119becdfece..88fafeb5b90dc 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_stopping_area_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_no_stopping_area_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index bac91d6ca92fd..3769aed71a1ec 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -52,7 +52,7 @@ NoStoppingAreaModule::NoStoppingAreaModule( state_machine_.setMarginTime(planner_param_.state_clear_time); } -bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path) { // Store original path const auto original_path = *path; @@ -64,7 +64,6 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason // Reset data debug_data_ = no_stopping_area::DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - *stop_reason = planning_utils::initializeStopReason(StopReason::NO_STOPPING_AREA); const no_stopping_area::EgoData ego_data(*planner_data_); @@ -142,27 +141,11 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason // Create StopReason { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_point->second; - stop_factor.stop_factor_points = debug_data_.stuck_points; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_point->second, VelocityFactor::UNKNOWN); } - // Create legacy StopReason - { - const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( - path->points, 0, stop_pose.position, stop_point->first); - - if ( - !first_stop_path_point_distance_ || - stop_path_point_distance < first_stop_path_point_distance_.value()) { - debug_data_.first_stop_pose = stop_point->second; - first_stop_path_point_distance_ = stop_path_point_distance; - } - } } else if (state_machine_.getState() == StateMachine::State::GO) { // reset pass judge if current state is go pass_judge_.is_stoppable = true; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp index 886c8f04dc702..51f3a0d261ebd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp @@ -59,7 +59,7 @@ class NoStoppingAreaModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp index 526a6baf0dd30..5ce56d756e919 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp @@ -26,6 +26,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner::no_stopping_area { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index 42636a0ca1d89..e74a81a6a971a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index 34597b1c41a5f..66cb33192fec0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_occlusion_spot_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_occlusion_spot_module package Taiki Tanaka diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp index 783970c701262..b3e9b2678189f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp @@ -15,6 +15,7 @@ #include "grid_utils.hpp" #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp index 56a5acd8c7dc4..baf15cbebce81 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp @@ -24,6 +24,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp index 24b9d10e09830..522e83390b0f1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp @@ -30,6 +30,7 @@ #include #include +#include #include // turn on only when debugging. @@ -82,8 +83,7 @@ OcclusionSpotModule::OcclusionSpotModule( } } -bool OcclusionSpotModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool OcclusionSpotModule::modifyPathVelocity(PathWithLaneId * path) { if (param_.is_show_processing_time) stop_watch_.tic("total_processing_time"); debug_data_.resetData(); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp index b83051fb6b6ec..35c409a9c459b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp @@ -53,7 +53,7 @@ class OcclusionSpotModule : public SceneModuleInterface /** * @brief plan occlusion spot velocity at unknown area in occupancy grid */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp index 6bc9423b6dc96..73fba3969442e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp @@ -21,7 +21,9 @@ #include #include +#include #include +#include struct indexHash { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp index 0322bda0a88c9..8fee8ee783fa2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp @@ -22,6 +22,9 @@ #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/vector3.hpp" +#include +#include + using Point = geometry_msgs::msg::Point; using Vector3 = geometry_msgs::msg::Vector3; using DynamicObjects = autoware_perception_msgs::msg::PredictedObjects; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index c4594d8bc0df4..43eafef522dde 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -2,6 +2,74 @@ Changelog for package autoware_behavior_velocity_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_planner): fix clang-diagnostic-format-security (`#9411 `_) + fix: clang-diagnostic-format-security +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix(bvp): remove callback group (`#9294 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- +* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml index 4dc4876010555..8ba8272712364 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner - 0.38.0 + 0.40.0 The autoware_behavior_velocity_planner package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index 5f4d0606abfc6..d78bc883e6b35 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -28,6 +28,8 @@ #include #include #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else @@ -79,8 +81,6 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio // Publishers path_pub_ = this->create_publisher("~/output/path", 1); - stop_reason_diag_pub_ = - this->create_publisher("~/output/stop_reason", 1); debug_viz_pub_ = this->create_publisher("~/debug/path", 1); // Parameters @@ -327,7 +327,6 @@ void BehaviorVelocityPlannerNode::onTrigger( path_pub_->publish(output_path_msg); published_time_publisher_->publish_if_subscribed(path_pub_, output_path_msg.header.stamp); - stop_reason_diag_pub_->publish(planner_manager_.getStopReasonDiag()); if (debug_viz_pub_->get_subscription_count() > 0) { publishDebugMarker(output_path_msg); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp index d72b90d41e8f4..e260f582aae60 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp @@ -113,7 +113,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node // publisher rclcpp::Publisher::SharedPtr path_pub_; - rclcpp::Publisher::SharedPtr stop_reason_diag_pub_; rclcpp::Publisher::SharedPtr debug_viz_pub_; void publishDebugMarker(const autoware_planning_msgs::msg::Path & path); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp index 05aa4868249f3..4820c340058ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp @@ -25,34 +25,6 @@ namespace autoware::behavior_velocity_planner { -namespace -{ -std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose) -{ - const std::string json_dumps_pose = - (boost::format( - R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % - pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % - pose.orientation.y % pose.orientation.z) - .str(); - return json_dumps_pose; -} - -diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( - const std::string & stop_reason, const geometry_msgs::msg::Pose & stop_pose) -{ - diagnostic_msgs::msg::DiagnosticStatus stop_reason_diag; - diagnostic_msgs::msg::KeyValue stop_reason_diag_kv; - stop_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stop_reason_diag.name = "stop_reason"; - stop_reason_diag.message = stop_reason; - stop_reason_diag_kv.key = "stop_pose"; - stop_reason_diag_kv.value = jsonDumpsPose(stop_pose); - stop_reason_diag.values.push_back(stop_reason_diag_kv); - return stop_reason_diag; -} -} // namespace - BehaviorVelocityPlannerManager::BehaviorVelocityPlannerManager() : plugin_loader_( "autoware_behavior_velocity_planner", "autoware::behavior_velocity_planner::PluginInterface") @@ -107,34 +79,12 @@ tier4_planning_msgs::msg::PathWithLaneId BehaviorVelocityPlannerManager::planPat { tier4_planning_msgs::msg::PathWithLaneId output_path_msg = input_path_msg; - double first_stop_path_point_distance = - autoware::motion_utils::calcArcLength(output_path_msg.points); - std::string stop_reason_msg("path_end"); - for (const auto & plugin : scene_manager_plugins_) { plugin->updateSceneModuleInstances(planner_data, input_path_msg); plugin->plan(&output_path_msg); - const std::optional firstStopPathPointDistance = - plugin->getFirstStopPathPointDistance(); - - if (firstStopPathPointDistance.has_value()) { - if (firstStopPathPointDistance.value() < first_stop_path_point_distance) { - first_stop_path_point_distance = firstStopPathPointDistance.value(); - stop_reason_msg = plugin->getModuleName(); - } - } } - const geometry_msgs::msg::Pose stop_pose = autoware::motion_utils::calcInterpolatedPose( - output_path_msg.points, first_stop_path_point_distance); - - stop_reason_diag_ = makeStopReasonDiag(stop_reason_msg, stop_pose); - return output_path_msg; } -diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopReasonDiag() const -{ - return stop_reason_diag_; -} } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp index abeab16dd71cb..fddd658cef06e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp @@ -46,14 +46,12 @@ class BehaviorVelocityPlannerManager void launchScenePlugin(rclcpp::Node & node, const std::string & name); void removeScenePlugin(rclcpp::Node & node, const std::string & name); + // cppcheck-suppress functionConst tier4_planning_msgs::msg::PathWithLaneId planPathVelocity( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & input_path_msg); - diagnostic_msgs::msg::DiagnosticStatus getStopReasonDiag() const; - private: - diagnostic_msgs::msg::DiagnosticStatus stop_reason_diag_; pluginlib::ClassLoader plugin_loader_; std::vector> scene_manager_plugins_; }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp index 1dfa3163b5b6f..fe79450d0def8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index de8e6e910e7a6..efc6fd8e18cb6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,85 @@ Changelog for package autoware_behavior_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common (`#9551 `_) + * test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common + * remove nodiscard + * update + * fix + * fix + * update + --------- +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_planner_common): fix clang-diagnostic-unused-const-variable (`#9413 `_) + fix: clang-diagnostic-unused-const-variable +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt index f76fcfa31c240..4c06c427a026d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt @@ -6,6 +6,7 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/scene_module_interface.cpp + src/planner_data.cpp src/utilization/path_utilization.cpp src/utilization/trajectory_utils.cpp src/utilization/arc_lane_util.cpp @@ -15,11 +16,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} - test/src/test_state_machine.cpp - test/src/test_arc_lane_util.cpp - test/src/test_utilization.cpp - ) + file(GLOB TEST_SOURCES test/src/*.cpp) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${TEST_SOURCES}) target_link_libraries(test_${PROJECT_NAME} gtest_main ${PROJECT_NAME} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp index 4075f356c187a..309ba33a3498a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp @@ -15,11 +15,10 @@ #ifndef AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" #include "autoware/route_handler/route_handler.hpp" - -#include -#include -#include +#include "autoware/velocity_smoother/smoother/smoother_base.hpp" +#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include #include @@ -38,32 +37,19 @@ #include #include -#include #include #include #include #include -#include namespace autoware::behavior_velocity_planner { -class BehaviorVelocityPlannerNode; struct PlannerData { - explicit PlannerData(rclcpp::Node & node) - : clock_(node.get_clock()), - vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()) - { - max_stop_acceleration_threshold = node.declare_parameter( - "max_accel"); // TODO(someone): read min_acc in velocity_controller.param.yaml? - max_stop_jerk_threshold = node.declare_parameter("max_jerk"); - system_delay = node.declare_parameter("system_delay"); - delay_response_time = node.declare_parameter("delay_response_time"); - } + explicit PlannerData(rclcpp::Node & node); rclcpp::Clock::SharedPtr clock_; - // msgs from callbacks that are used for data-ready geometry_msgs::msg::PoseStamped::ConstSharedPtr current_odometry; geometry_msgs::msg::TwistStamped::ConstSharedPtr current_velocity; geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr current_acceleration; @@ -71,85 +57,33 @@ struct PlannerData std::deque velocity_buffer; autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr predicted_objects; pcl::PointCloud::ConstPtr no_ground_pointcloud; - // occupancy grid + nav_msgs::msg::OccupancyGrid::ConstSharedPtr occupancy_grid; - // nearest search double ego_nearest_dist_threshold; double ego_nearest_yaw_threshold; - // other internal data - // traffic_light_id_map_raw is the raw observation, while traffic_light_id_map_keep_last keeps the - // last observed infomation for UNKNOWN std::map traffic_light_id_map_raw_; std::map traffic_light_id_map_last_observed_; std::optional external_velocity_limit; tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states; - // This variable is used when the Autoware's behavior has to depend on whether it's simulation or - // not. bool is_simulation = false; - // velocity smoother std::shared_ptr velocity_smoother_; - // route handler std::shared_ptr route_handler_; - // parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; - // additional parameters double max_stop_acceleration_threshold; double max_stop_jerk_threshold; double system_delay; double delay_response_time; double stop_line_extend_length; - bool isVehicleStopped(const double stop_duration = 0.0) const - { - if (velocity_buffer.empty()) { - return false; - } - - // Get velocities within stop_duration - const auto now = clock_->now(); - std::vector vs; - for (const auto & velocity : velocity_buffer) { - vs.push_back(velocity.twist.linear.x); - - const auto & s = velocity.header.stamp; - const auto time_diff = - now >= s ? now - s : rclcpp::Duration(0, 0); // Note: negative time throws an exception. - if (time_diff.seconds() >= stop_duration) { - break; - } - } - - // Check all velocities - constexpr double stop_velocity = 1e-3; - for (const auto & v : vs) { - if (v >= stop_velocity) { - return false; - } - } - - return true; - } - - /** - *@fn - *@brief queries the traffic signal information of given Id. if keep_last_observation = true, - *recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation - */ + bool isVehicleStopped(const double stop_duration = 0.0) const; + std::optional getTrafficSignal( - const lanelet::Id id, const bool keep_last_observation = false) const - { - const auto & traffic_light_id_map = - keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; - if (traffic_light_id_map.count(id) == 0) { - return std::nullopt; - } - return std::make_optional(traffic_light_id_map.at(id)); - } + const lanelet::Id id, const bool keep_last_observation = false) const; }; } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp index 5f6549f1e4492..4867b14cbb806 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp @@ -34,7 +34,6 @@ class PluginInterface virtual void updateSceneModuleInstances( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & path) = 0; - virtual std::optional getFirstStopPathPointDistance() = 0; virtual const char * getModuleName() = 0; }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp index 0392bf24d3a36..44a00072a0be4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp @@ -38,10 +38,6 @@ class PluginWrapper : public PluginInterface { scene_manager_->updateSceneModuleInstances(planner_data, path); } - std::optional getFirstStopPathPointDistance() override - { - return scene_manager_->getFirstStopPathPointDistance(); - } const char * getModuleName() override { return scene_manager_->getModuleName(); } private: diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index e39cfb3a5144d..fadda66f12562 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -30,8 +30,6 @@ #include #include #include -#include -#include #include #include #include @@ -41,6 +39,7 @@ #include #include #include +#include #include // Debug @@ -61,8 +60,6 @@ using autoware::universe_utils::getOrDeclareParameter; using builtin_interfaces::msg::Time; using tier4_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::PathWithLaneId; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; using tier4_rtc_msgs::msg::Module; using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; @@ -73,9 +70,9 @@ struct ObjectOfInterest autoware_perception_msgs::msg::Shape shape; ColorName color; ObjectOfInterest( - const geometry_msgs::msg::Pose & pose, const autoware_perception_msgs::msg::Shape & shape, + const geometry_msgs::msg::Pose & pose, autoware_perception_msgs::msg::Shape shape, const ColorName & color_name) - : pose(pose), shape(shape), color(color_name) + : pose(pose), shape(std::move(shape)), color(color_name) { } }; @@ -87,12 +84,13 @@ class SceneModuleInterface const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock); virtual ~SceneModuleInterface() = default; - virtual bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) = 0; + virtual bool modifyPathVelocity(PathWithLaneId * path) = 0; virtual visualization_msgs::msg::MarkerArray createDebugMarkerArray() = 0; virtual std::vector createVirtualWalls() = 0; int64_t getModuleId() const { return module_id_; } + void setPlannerData(const std::shared_ptr & planner_data) { planner_data_ = planner_data; @@ -116,8 +114,6 @@ class SceneModuleInterface std::shared_ptr getTimeKeeper() { return time_keeper_; } - std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } - void setActivation(const bool activated) { activated_ = activated; } void setRTCEnabled(const bool enable_rtc) { rtc_enabled_ = enable_rtc; } bool isActivated() const { return activated_; } @@ -139,7 +135,6 @@ class SceneModuleInterface rclcpp::Clock::SharedPtr clock_; std::shared_ptr planner_data_; std::optional infrastructure_command_; - std::optional first_stop_path_point_distance_; autoware::motion_utils::VelocityFactorInterface velocity_factor_; std::vector objects_of_interest_; mutable std::shared_ptr time_keeper_; @@ -174,8 +169,6 @@ class SceneModuleManagerInterface virtual const char * getModuleName() = 0; - std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } - void updateSceneModuleInstances( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & path); @@ -208,7 +201,6 @@ class SceneModuleManagerInterface std::shared_ptr planner_data_; autoware::motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator_; - std::optional first_stop_path_point_distance_; rclcpp::Node & node_; rclcpp::Clock::SharedPtr clock_; // Debug @@ -217,7 +209,6 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_virtual_wall_; rclcpp::Publisher::SharedPtr pub_debug_; rclcpp::Publisher::SharedPtr pub_debug_path_; - rclcpp::Publisher::SharedPtr pub_stop_reason_; rclcpp::Publisher::SharedPtr pub_velocity_factor_; rclcpp::Publisher::SharedPtr diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp index 56154879ea938..fae13db2822e7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp @@ -20,7 +20,6 @@ #include -#include #include #include @@ -29,9 +28,8 @@ namespace autoware::behavior_velocity_planner { -namespace -{ -geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point2d & p) + +inline geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point2d & p) { geometry_msgs::msg::Point geom_p; geom_p.x = p.x(); @@ -40,8 +38,6 @@ geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Poi return geom_p; } -} // namespace - namespace arc_lane_utils { using PathIndexWithPose = std::pair; // front index, pose diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp index 3a1c8fdeb7a0d..5ac91cdaf1369 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp @@ -26,9 +26,7 @@ #include #include -namespace autoware::behavior_velocity_planner -{ -namespace debug +namespace autoware::behavior_velocity_planner::debug { visualization_msgs::msg::MarkerArray createPolygonMarkerArray( const geometry_msgs::msg::Polygon & polygon, const std::string & ns, const int64_t module_id, @@ -46,6 +44,6 @@ visualization_msgs::msg::MarkerArray createPointsMarkerArray( const std::vector & points, const std::string & ns, const int64_t module_id, const rclcpp::Time & now, const double x, const double y, const double z, const double r, const double g, const double b); -} // namespace debug -} // namespace autoware::behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner::debug + #endif // AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__DEBUG_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp index 1e45e5655f12f..2d4dab018fb18 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp @@ -20,13 +20,11 @@ #include #include -#include - namespace autoware::behavior_velocity_planner { bool splineInterpolate( const tier4_planning_msgs::msg::PathWithLaneId & input, const double interval, - tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger logger); + tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger & logger); autoware_planning_msgs::msg::Path interpolatePath( const autoware_planning_msgs::msg::Path & path, const double length, const double interval); autoware_planning_msgs::msg::Path filterLitterPathPoint( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp index 4d88f2bfecce8..dfe70d376621e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp @@ -19,7 +19,6 @@ #include #include -#include namespace autoware::behavior_velocity_planner { @@ -37,11 +36,11 @@ class StateMachine { if (state == State::STOP) { return "STOP"; - } else if (state == State::GO) { + } + if (state == State::GO) { return "GO"; - } else { - return ""; } + return ""; } StateMachine() { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp index 5f1c17ea1b815..fc4f852ef82f7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp @@ -15,13 +15,12 @@ #ifndef AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__UTIL_HPP_ #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__UTIL_HPP_ -#include +#include "autoware/universe_utils/geometry/boost_geometry.hpp" #include #include #include #include -#include #include #include @@ -37,23 +36,29 @@ namespace autoware::behavior_velocity_planner { +/** + * @brief Represents detection range parameters. + */ struct DetectionRange { - bool use_right = true; - bool use_left = true; - double interval; - double min_longitudinal_distance; - double max_longitudinal_distance; - double max_lateral_distance; - double wheel_tread; - double right_overhang; - double left_overhang; + bool use_right = true; ///< Whether to use the right side. + bool use_left = true; ///< Whether to use the left side. + double interval{0.0}; ///< Interval of detection points. + double min_longitudinal_distance{0.0}; ///< Minimum longitudinal detection distance. + double max_longitudinal_distance{0.0}; ///< Maximum longitudinal detection distance. + double max_lateral_distance{0.0}; ///< Maximum lateral detection distance. + double wheel_tread{0.0}; ///< Wheel tread of the vehicle. + double right_overhang{0.0}; ///< Right overhang of the vehicle. + double left_overhang{0.0}; ///< Left overhang of the vehicle. }; +/** + * @brief Represents a traffic signal with a timestamp. + */ struct TrafficSignalStamped { - builtin_interfaces::msg::Time stamp; - autoware_perception_msgs::msg::TrafficLightGroup signal; + builtin_interfaces::msg::Time stamp; ///< Timestamp of the signal. + autoware_perception_msgs::msg::TrafficLightGroup signal; ///< Traffic light group. }; using Pose = geometry_msgs::msg::Pose; @@ -65,29 +70,33 @@ using Polygons2d = std::vector; using autoware_perception_msgs::msg::PredictedObjects; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; namespace planning_utils { size_t calcSegmentIndexFromPointIndex( const std::vector & points, const geometry_msgs::msg::Point & point, const size_t idx); -// create detection area from given range return false if creation failure + bool createDetectionAreaPolygons( Polygons2d & da_polys, const PathWithLaneId & path, const geometry_msgs::msg::Pose & target_pose, const size_t target_seg_idx, const DetectionRange & da_range, const double obstacle_vel_mps, const double min_velocity = 1.0); + Point2d calculateOffsetPoint2d( const geometry_msgs::msg::Pose & pose, const double offset_x, const double offset_y); + void extractClosePartition( const geometry_msgs::msg::Point position, const BasicPolygons2d & all_partitions, BasicPolygons2d & close_partition, const double distance_thresh = 30.0); -void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr ll, BasicPolygons2d & polys); + +void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr & ll, BasicPolygons2d & polys); + void setVelocityFromIndex(const size_t begin_idx, const double vel, PathWithLaneId * input); + void insertVelocity( PathWithLaneId & path, const PathPointWithLaneId & path_point, const double v, size_t & insert_index, const double min_distance = 0.001); + inline int64_t bitShift(int64_t original_id) { return original_id << (sizeof(int32_t) * 8 / 2); @@ -99,6 +108,7 @@ geometry_msgs::msg::Pose getAheadPose( const tier4_planning_msgs::msg::PathWithLaneId & path); Polygon2d generatePathPolygon( const PathWithLaneId & path, const size_t start_idx, const size_t end_idx, const double width); + double calcJudgeLineDistWithAccLimit( const double velocity, const double max_stop_acceleration, const double delay_response_time); @@ -114,10 +124,6 @@ double findReachTime( const double jerk, const double accel, const double velocity, const double distance, const double t_min, const double t_max); -StopReason initializeStopReason(const std::string & stop_reason); - -void appendStopReason(const StopFactor stop_factor, StopReason * stop_reason); - std::vector toRosPoints(const PredictedObjects & object); LineString2d extendLine( @@ -217,6 +223,7 @@ bool isOverLine( std::optional insertStopPoint( const geometry_msgs::msg::Point & stop_point, PathWithLaneId & output); + std::optional insertStopPoint( const geometry_msgs::msg::Point & stop_point, const size_t stop_seg_idx, PathWithLaneId & output); @@ -225,11 +232,11 @@ std::optional insertStopPoint( or lane-changeable parent lanes with `lane` and has same turn_direction value. */ std::set getAssociativeIntersectionLanelets( - lanelet::ConstLanelet lane, const lanelet::LaneletMapPtr lanelet_map, + const lanelet::ConstLanelet & lane, const lanelet::LaneletMapPtr lanelet_map, const lanelet::routing::RoutingGraphPtr routing_graph); lanelet::ConstLanelets getConstLaneletsFromIds( - lanelet::LaneletMapConstPtr map, const std::set & ids); + const lanelet::LaneletMapConstPtr & map, const std::set & ids); } // namespace planning_utils } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index 6692358f1b21f..77b26aac09161 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner_common - 0.38.0 + 0.40.0 The autoware_behavior_velocity_planner_common package Tomoya Kimura @@ -52,6 +52,7 @@ ament_cmake_ros ament_lint_auto autoware_lint_common + autoware_test_utils ament_cmake diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp new file mode 100644 index 0000000000000..df2a183e3bfb3 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp @@ -0,0 +1,72 @@ +// Copyright 2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_velocity_planner_common/planner_data.hpp" + +#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" + +#include + +namespace autoware::behavior_velocity_planner +{ +PlannerData::PlannerData(rclcpp::Node & node) +: clock_(node.get_clock()), + vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()) +{ + max_stop_acceleration_threshold = node.declare_parameter("max_accel"); + max_stop_jerk_threshold = node.declare_parameter("max_jerk"); + system_delay = node.declare_parameter("system_delay"); + delay_response_time = node.declare_parameter("delay_response_time"); +} + +bool PlannerData::isVehicleStopped(const double stop_duration) const +{ + if (velocity_buffer.empty()) { + return false; + } + + const auto now = clock_->now(); + std::vector vs; + for (const auto & velocity : velocity_buffer) { + vs.push_back(velocity.twist.linear.x); + + const auto & s = velocity.header.stamp; + const auto time_diff = + now >= s ? now - s : rclcpp::Duration(0, 0); // Note: negative time throws an exception. + if (time_diff.seconds() >= stop_duration) { + break; + } + } + + constexpr double stop_velocity = 1e-3; + for (const auto & v : vs) { + if (v >= stop_velocity) { + return false; + } + } + + return true; +} + +std::optional PlannerData::getTrafficSignal( + const lanelet::Id id, const bool keep_last_observation) const +{ + const auto & traffic_light_id_map = + keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; + if (traffic_light_id_map.count(id) == 0) { + return std::nullopt; + } + return std::make_optional(traffic_light_id_map.at(id)); +} +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp index 2d014d4bbf81d..cdfde1ce51205 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -22,6 +22,8 @@ #include #include #include +#include +#include namespace autoware::behavior_velocity_planner { @@ -67,8 +69,6 @@ SceneModuleManagerInterface::SceneModuleManagerInterface( std::string("~/virtual_wall/") + module_name, 5); pub_velocity_factor_ = node.create_publisher( std::string("/planning/velocity_factors/") + module_name, 1); - pub_stop_reason_ = - node.create_publisher("~/output/stop_reasons", 1); pub_infrastructure_commands_ = node.create_publisher( "~/output/infrastructure_commands", 1); @@ -107,40 +107,28 @@ void SceneModuleManagerInterface::modifyPathVelocity( StopWatch stop_watch; stop_watch.tic("Total"); visualization_msgs::msg::MarkerArray debug_marker_array; - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factor_array; - stop_reason_array.header.frame_id = "map"; - stop_reason_array.header.stamp = clock_->now(); velocity_factor_array.header.frame_id = "map"; velocity_factor_array.header.stamp = clock_->now(); tier4_v2x_msgs::msg::InfrastructureCommandArray infrastructure_command_array; infrastructure_command_array.stamp = clock_->now(); - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); for (const auto & scene_module : scene_modules_) { - tier4_planning_msgs::msg::StopReason stop_reason; scene_module->resetVelocityFactor(); scene_module->setPlannerData(planner_data_); - scene_module->modifyPathVelocity(path, &stop_reason); + scene_module->modifyPathVelocity(path); // The velocity factor must be called after modifyPathVelocity. const auto velocity_factor = scene_module->getVelocityFactor(); if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) { velocity_factor_array.factors.emplace_back(velocity_factor); } - if (stop_reason.reason != "") { - stop_reason_array.stop_reasons.emplace_back(stop_reason); - } if (const auto command = scene_module->getInfrastructureCommand()) { infrastructure_command_array.commands.push_back(*command); } - if (scene_module->getFirstStopPathPointDistance() < first_stop_path_point_distance_) { - first_stop_path_point_distance_ = scene_module->getFirstStopPathPointDistance(); - } - for (const auto & marker : scene_module->createDebugMarkerArray().markers) { debug_marker_array.markers.push_back(marker); } @@ -148,9 +136,6 @@ void SceneModuleManagerInterface::modifyPathVelocity( virtual_wall_marker_creator_.add_virtual_walls(scene_module->createVirtualWalls()); } - if (!stop_reason_array.stop_reasons.empty()) { - pub_stop_reason_->publish(stop_reason_array); - } pub_velocity_factor_->publish(velocity_factor_array); pub_infrastructure_commands_->publish(infrastructure_command_array); pub_debug_->publish(debug_marker_array); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp index da6ef7262de74..9b02b374b0a6c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp @@ -26,10 +26,7 @@ #include #endif -#include -#include #include -#include namespace { @@ -54,12 +51,6 @@ geometry_msgs::msg::Point operator*(const geometry_msgs::msg::Point & p, const d return multiplied_p; } -/* -geometry_msgs::msg::Point operator*(const double v, const geometry_msgs::msg::Point & p) -{ -return p * v; -} -*/ } // namespace namespace autoware::behavior_velocity_planner::arc_lane_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp index 33cf428e80808..d9162419ec33f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp @@ -16,8 +16,6 @@ #include -#include -#include namespace autoware::behavior_velocity_planner { @@ -27,8 +25,8 @@ Polygon2d lines2polygon(const LineString2d & left_line, const LineString2d & rig polygon.outer().push_back(left_line.front()); - for (auto itr = right_line.begin(); itr != right_line.end(); ++itr) { - polygon.outer().push_back(*itr); + for (const auto & itr : right_line) { + polygon.outer().push_back(itr); } for (auto itr = left_line.rbegin(); itr != left_line.rend(); ++itr) { @@ -57,8 +55,8 @@ geometry_msgs::msg::Polygon toGeomPoly(const Polygon2d & polygon) geometry_msgs::msg::Polygon polygon_msg; geometry_msgs::msg::Point32 point_msg; for (const auto & p : polygon.outer()) { - point_msg.x = p.x(); - point_msg.y = p.y(); + point_msg.x = static_cast(p.x()); + point_msg.y = static_cast(p.y()); polygon_msg.points.push_back(point_msg); } return polygon_msg; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp index dfd201bac707c..2ddf62bb584ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp @@ -15,14 +15,13 @@ #include #include #include -namespace autoware::behavior_velocity_planner -{ -namespace debug + +#include +#include +namespace autoware::behavior_velocity_planner::debug { -using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createMarkerColor; -using autoware::universe_utils::createMarkerOrientation; using autoware::universe_utils::createMarkerScale; visualization_msgs::msg::MarkerArray createPolygonMarkerArray( @@ -33,8 +32,9 @@ visualization_msgs::msg::MarkerArray createPolygonMarkerArray( visualization_msgs::msg::MarkerArray msg; { auto marker = createDefaultMarker( - "map", now, ns.c_str(), module_id, visualization_msgs::msg::Marker::LINE_STRIP, - createMarkerScale(x, y, z), createMarkerColor(r, g, b, 0.8)); + "map", now, ns, static_cast(module_id), visualization_msgs::msg::Marker::LINE_STRIP, + createMarkerScale(static_cast(x), static_cast(y), static_cast(z)), + createMarkerColor(static_cast(r), static_cast(g), static_cast(b), 0.8f)); marker.lifetime = rclcpp::Duration::from_seconds(0.3); for (const auto & p : polygon.points) { @@ -64,15 +64,18 @@ visualization_msgs::msg::MarkerArray createPathMarkerArray( const auto & p = path.points.at(i); auto marker = createDefaultMarker( - "map", now, ns.c_str(), planning_utils::bitShift(lane_id) + i, - visualization_msgs::msg::Marker::ARROW, createMarkerScale(x, y, z), - createMarkerColor(r, g, b, 0.999)); + "map", now, ns, static_cast(planning_utils::bitShift(lane_id) + i), + visualization_msgs::msg::Marker::ARROW, + createMarkerScale(static_cast(x), static_cast(y), static_cast(z)), + createMarkerColor( + static_cast(r), static_cast(g), static_cast(b), 0.999f)); marker.lifetime = rclcpp::Duration::from_seconds(0.3); marker.pose = p.point.pose; if (std::find(p.lane_ids.begin(), p.lane_ids.end(), lane_id) != p.lane_ids.end()) { // if p.lane_ids has lane_id - marker.color = createMarkerColor(r, g, b, 0.999); + marker.color = createMarkerColor( + static_cast(r), static_cast(g), static_cast(b), 0.999f); } else { marker.color = createMarkerColor(0.5, 0.5, 0.5, 0.999); } @@ -90,13 +93,13 @@ visualization_msgs::msg::MarkerArray createObjectsMarkerArray( auto marker = createDefaultMarker( "map", now, ns, 0, visualization_msgs::msg::Marker::CUBE, createMarkerScale(3.0, 1.0, 1.0), - createMarkerColor(r, g, b, 0.8)); + createMarkerColor(static_cast(r), static_cast(g), static_cast(b), 0.8f)); marker.lifetime = rclcpp::Duration::from_seconds(1.0); for (size_t i = 0; i < objects.objects.size(); ++i) { const auto & object = objects.objects.at(i); - marker.id = planning_utils::bitShift(module_id) + i; + marker.id = static_cast(planning_utils::bitShift(module_id) + i); marker.pose = object.kinematics.initial_pose_with_covariance.pose; msg.markers.push_back(marker); } @@ -113,15 +116,14 @@ visualization_msgs::msg::MarkerArray createPointsMarkerArray( auto marker = createDefaultMarker( "map", now, ns, 0, visualization_msgs::msg::Marker::SPHERE, createMarkerScale(x, y, z), - createMarkerColor(r, g, b, 0.999)); + createMarkerColor(static_cast(r), static_cast(g), static_cast(b), 0.999f)); marker.lifetime = rclcpp::Duration::from_seconds(0.3); for (size_t i = 0; i < points.size(); ++i) { - marker.id = i + planning_utils::bitShift(module_id); + marker.id = static_cast(i + planning_utils::bitShift(module_id)); marker.pose.position = points.at(i); msg.markers.push_back(marker); } return msg; } -} // namespace debug -} // namespace autoware::behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner::debug diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp index 17ea92022ea13..b8e6e28bae7c2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp @@ -18,14 +18,13 @@ #include #include -#include #include namespace autoware::behavior_velocity_planner { bool splineInterpolate( const tier4_planning_msgs::msg::PathWithLaneId & input, const double interval, - tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger logger) + tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger & logger) { if (input.points.size() < 2) { RCLCPP_DEBUG(logger, "Do not interpolate because path size is 1."); @@ -156,12 +155,12 @@ autoware_planning_msgs::msg::Path filterStopPathPoint( { autoware_planning_msgs::msg::Path filtered_path = path; bool found_stop = false; - for (size_t i = 0; i < filtered_path.points.size(); ++i) { - if (std::fabs(filtered_path.points.at(i).longitudinal_velocity_mps) < 0.01) { + for (auto & point : filtered_path.points) { + if (std::fabs(point.longitudinal_velocity_mps) < 0.01) { found_stop = true; } if (found_stop) { - filtered_path.points.at(i).longitudinal_velocity_mps = 0.0; + point.longitudinal_velocity_mps = 0.0; } } return filtered_path; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp index 6815ca3ff8cb4..cb9b58ec48924 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp @@ -25,6 +25,10 @@ #include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else @@ -75,13 +79,15 @@ bool smoothPath( TrajectoryPoints clipped; TrajectoryPoints traj_smoothed; clipped.insert( - clipped.end(), traj_resampled.begin() + traj_resampled_closest, traj_resampled.end()); + clipped.end(), traj_resampled.begin() + static_cast(traj_resampled_closest), + traj_resampled.end()); if (!smoother->apply(v0, a0, clipped, traj_smoothed, debug_trajectories, false)) { std::cerr << "[behavior_velocity][trajectory_utils]: failed to smooth" << std::endl; return false; } traj_smoothed.insert( - traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest); + traj_smoothed.begin(), traj_resampled.begin(), + traj_resampled.begin() + static_cast(traj_resampled_closest)); if (external_v_limit) { autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp index ccb2660dbf3c6..a8f909201ac7f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp @@ -12,10 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include -#include -#include +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" + +#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp" +#include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include @@ -32,7 +33,9 @@ #endif #include -#include +#include +#include +#include #include #include @@ -64,7 +67,7 @@ PathPoint getLerpPathPointWithLaneId(const PathPoint p0, const PathPoint p1, con PathPoint p; p.pose = autoware::universe_utils::calcInterpolatedPose(p0, p1, ratio); const double v = lerp(p0.longitudinal_velocity_mps, p1.longitudinal_velocity_mps, ratio); - p.longitudinal_velocity_mps = v; + p.longitudinal_velocity_mps = static_cast(v); return p; } @@ -91,19 +94,11 @@ geometry_msgs::msg::Pose transformRelCoordinate2D( } // namespace -namespace autoware::behavior_velocity_planner -{ -namespace planning_utils +namespace autoware::behavior_velocity_planner::planning_utils { -using autoware::motion_utils::calcLongitudinalOffsetToSegment; using autoware::motion_utils::calcSignedArcLength; -using autoware::motion_utils::validateNonEmpty; -using autoware::universe_utils::calcAzimuthAngle; using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; -using autoware::universe_utils::calcSquaredDistance2d; -using autoware::universe_utils::createQuaternionFromYaw; -using autoware::universe_utils::getPoint; using autoware_planning_msgs::msg::PathPoint; size_t calcSegmentIndexFromPointIndex( @@ -154,7 +149,7 @@ bool createDetectionAreaPolygons( const double offset_right = (da_range.wheel_tread / 2.0) + da_range.right_overhang; //! max index is the last index of path point - const size_t max_index = static_cast(path.points.size() - 1); + const auto max_index = static_cast(path.points.size() - 1); //! avoid bug with same point polygon const double eps = 1e-3; auto nearest_idx = @@ -246,10 +241,9 @@ void extractClosePartition( close_partition.emplace_back(p); } } - return; } -void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr ll, BasicPolygons2d & polys) +void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr & ll, BasicPolygons2d & polys) { const lanelet::ConstLineStrings3d partitions = lanelet::utils::query::getAllPartitions(ll); for (const auto & partition : partitions) { @@ -259,7 +253,7 @@ void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr ll, BasicPolygons } // correct line to calculate distance in accurate boost::geometry::correct(line); - polys.emplace_back(lanelet::BasicPolygon2d(line)); + polys.emplace_back(line); } } @@ -269,7 +263,6 @@ void setVelocityFromIndex(const size_t begin_idx, const double vel, PathWithLane input->points.at(i).point.longitudinal_velocity_mps = std::min(static_cast(vel), input->points.at(i).point.longitudinal_velocity_mps); } - return; } void insertVelocity( @@ -309,7 +302,7 @@ geometry_msgs::msg::Pose getAheadPose( const size_t start_idx, const double ahead_dist, const tier4_planning_msgs::msg::PathWithLaneId & path) { - if (path.points.size() == 0) { + if (path.points.empty()) { return geometry_msgs::msg::Pose{}; } @@ -327,7 +320,8 @@ geometry_msgs::msg::Pose getAheadPose( p.position.x = w_p0 * p0.position.x + w_p1 * p1.position.x; p.position.y = w_p0 * p0.position.y + w_p1 * p1.position.y; p.position.z = w_p0 * p0.position.z + w_p1 * p1.position.z; - tf2::Quaternion q0_tf, q1_tf; + tf2::Quaternion q0_tf; + tf2::Quaternion q1_tf; tf2::fromMsg(p0.orientation, q0_tf); tf2::fromMsg(p1.orientation, q1_tf); p.orientation = tf2::toMsg(q0_tf.slerp(q1_tf, w_p1)); @@ -424,15 +418,16 @@ double findReachTime( const int warn_iter = 100; double lower = min; double upper = max; - double t; + double t = NAN; int iter = 0; - for (int i = 0;; i++) { + while (true) { t = 0.5 * (lower + upper); const double fx = f(t, j, a, v, d); // std::cout<<"fx: "< 0.0) { + } + if (fx > 0.0) { upper = t; } else { lower = t; @@ -475,31 +470,18 @@ double calcDecelerationVelocityFromDistanceToTarget( const double t_jerk = findReachTime(j_max, a0, v0, l, 0, t_const_jerk); const double velocity = vt(t_jerk, j_max, a0, v0); return velocity; - } else { - const double v1 = vt(t_const_jerk, j_max, a0, v0); - const double discriminant_of_stop = 2.0 * a_max * d_const_acc_stop + v1 * v1; - // case3: distance to target is farther than distance to stop - if (discriminant_of_stop <= 0) { - return 0.0; - } - // case2: distance to target is within constant accel deceleration - // solve d = 0.5*a^2+v*t by t - const double t_acc = (-v1 + std::sqrt(discriminant_of_stop)) / a_max; - return vt(t_acc, 0.0, a_max, v1); } - return current_velocity; -} -StopReason initializeStopReason(const std::string & stop_reason) -{ - StopReason stop_reason_msg; - stop_reason_msg.reason = stop_reason; - return stop_reason_msg; -} - -void appendStopReason(const StopFactor stop_factor, StopReason * stop_reason) -{ - stop_reason->stop_factors.emplace_back(stop_factor); + const double v1 = vt(t_const_jerk, j_max, a0, v0); + const double discriminant_of_stop = 2.0 * a_max * d_const_acc_stop + v1 * v1; + // case3: distance to target is farther than distance to stop + if (discriminant_of_stop <= 0) { + return 0.0; + } + // case2: distance to target is within constant accel deceleration + // solve d = 0.5*a^2+v*t by t + const double t_acc = (-v1 + std::sqrt(discriminant_of_stop)) / a_max; + return vt(t_acc, 0.0, a_max, v1); } std::vector toRosPoints(const PredictedObjects & object) @@ -558,6 +540,7 @@ std::vector getLaneletsOnPath( } std::vector lanelets; + lanelets.reserve(unique_lane_ids.size()); for (const auto lane_id : unique_lane_ids) { lanelets.push_back(lanelet_map->laneletLayer.get(lane_id)); } @@ -599,7 +582,7 @@ std::vector getSubsequentLaneIdsSetOnPath( // cannot find base_index in all_lane_ids if (base_index == all_lane_ids.end()) { - return std::vector(); + return {}; } std::vector subsequent_lane_ids; @@ -673,11 +656,11 @@ std::optional insertStopPoint( } std::set getAssociativeIntersectionLanelets( - lanelet::ConstLanelet lane, const lanelet::LaneletMapPtr lanelet_map, + const lanelet::ConstLanelet & lane, const lanelet::LaneletMapPtr lanelet_map, const lanelet::routing::RoutingGraphPtr routing_graph) { const std::string turn_direction = lane.attributeOr("turn_direction", "else"); - if (turn_direction.compare("else") == 0) { + if (turn_direction == "else") { return {}; } @@ -702,7 +685,7 @@ std::set getAssociativeIntersectionLanelets( } lanelet::ConstLanelets getConstLaneletsFromIds( - lanelet::LaneletMapConstPtr map, const std::set & ids) + const lanelet::LaneletMapConstPtr & map, const std::set & ids) { lanelet::ConstLanelets ret{}; for (const auto & id : ids) { @@ -712,5 +695,4 @@ lanelet::ConstLanelets getConstLaneletsFromIds( return ret; } -} // namespace planning_utils -} // namespace autoware::behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner::planning_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_path_utilization.cpp similarity index 70% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp rename to planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_path_utilization.cpp index ca5c57fd522c9..51c6b5b9dda04 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_path_utilization.cpp @@ -22,6 +22,7 @@ #include #include +#include #define DEBUG_PRINT_PATH(path) \ { \ @@ -175,3 +176,70 @@ TEST(specialInterpolation, specialInterpolation) EXPECT_DOUBLE_EQ(calcInterpolatedStopDist(px, vx), expected); } } + +TEST(filterLitterPathPoint, nominal) +{ + using autoware::behavior_velocity_planner::filterLitterPathPoint; + using autoware_planning_msgs::msg::Path; + using autoware_planning_msgs::msg::PathPoint; + + const auto genPath = [](const std::vector & px, const std::vector & vx) { + Path path; + for (size_t i = 0; i < px.size(); ++i) { + PathPoint point; + point.pose.position.x = px[i]; + point.pose.position.y = 0.0; + point.longitudinal_velocity_mps = static_cast(vx[i]); + path.points.push_back(point); + } + return path; + }; + + const std::vector px{0.0, 1.0, 1.001, 2.0, 3.0}; + const std::vector vx{5.0, 3.5, 3.5, 3.0, 2.5}; + + const auto path = genPath(px, vx); + const auto filtered_path = filterLitterPathPoint(path); + + ASSERT_EQ(filtered_path.points.size(), 4U); // Expected: Points at x = {0.0, 1.0, 2.0, 3.0} + EXPECT_DOUBLE_EQ(filtered_path.points[0].pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(filtered_path.points[1].pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(filtered_path.points[2].pose.position.x, 2.0); + EXPECT_DOUBLE_EQ(filtered_path.points[3].pose.position.x, 3.0); + + EXPECT_DOUBLE_EQ(filtered_path.points[0].longitudinal_velocity_mps, 5.0); + EXPECT_DOUBLE_EQ(filtered_path.points[1].longitudinal_velocity_mps, 3.5); + EXPECT_DOUBLE_EQ(filtered_path.points[2].longitudinal_velocity_mps, 3.0); + EXPECT_DOUBLE_EQ(filtered_path.points[3].longitudinal_velocity_mps, 2.5); +} + +TEST(filterStopPathPoint, nominal) +{ + using autoware::behavior_velocity_planner::filterStopPathPoint; + using autoware_planning_msgs::msg::Path; + using autoware_planning_msgs::msg::PathPoint; + + const auto genPath = [](const std::vector & px, const std::vector & vx) { + Path path; + for (size_t i = 0; i < px.size(); ++i) { + PathPoint point; + point.pose.position.x = px[i]; + point.longitudinal_velocity_mps = static_cast(vx[i]); + path.points.push_back(point); + } + return path; + }; + + const std::vector px{0.0, 1.0, 2.0, 3.0, 4.0}; + const std::vector vx{5.0, 4.0, 0.0, 2.0, 3.0}; + + const auto path = genPath(px, vx); + const auto filtered_path = filterStopPathPoint(path); + + ASSERT_EQ(filtered_path.points.size(), 5U); + EXPECT_DOUBLE_EQ(filtered_path.points[0].longitudinal_velocity_mps, 5.0); + EXPECT_DOUBLE_EQ(filtered_path.points[1].longitudinal_velocity_mps, 4.0); + EXPECT_DOUBLE_EQ(filtered_path.points[2].longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(filtered_path.points[3].longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(filtered_path.points[4].longitudinal_velocity_mps, 0.0); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp new file mode 100644 index 0000000000000..5ed490ab755a9 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp @@ -0,0 +1,113 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_velocity_planner_common/utilization/trajectory_utils.hpp" +#include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp" + +#include +#include + +#include +#include + +#include + +#include + +TEST(smoothPath, nominal) +{ + using autoware::behavior_velocity_planner::smoothPath; + using tier4_planning_msgs::msg::PathPointWithLaneId; + using tier4_planning_msgs::msg::PathWithLaneId; + + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.arguments( + {"--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common") + + "/config/behavior_velocity_planner_common.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/config/test_vehicle_info.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") + + "/config/default_common.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") + + "/config/default_velocity_smoother.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") + + "/config/JerkFiltered.param.yaml"}); + auto node = std::make_shared("test_node", options); + + auto planner_data = std::make_shared(*node); + planner_data->stop_line_extend_length = 5.0; + planner_data->vehicle_info_.max_longitudinal_offset_m = 1.0; + + planner_data->current_odometry = std::make_shared([]() { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = 2.0; + pose.pose.position.y = 1.0; + return pose; + }()); + + planner_data->current_velocity = std::make_shared([]() { + geometry_msgs::msg::TwistStamped twist; + twist.twist.linear.x = 3.0; + return twist; + }()); + + planner_data->current_acceleration = + std::make_shared([]() { + geometry_msgs::msg::AccelWithCovarianceStamped accel; + accel.accel.accel.linear.x = 1.0; + return accel; + }()); + + planner_data->velocity_smoother_ = + std::make_shared( + *node, std::make_shared()); + + // Input path + PathWithLaneId in_path; + for (double i = 0; i <= 10.0; i += 1.0) { + PathPointWithLaneId point; + point.point.pose.position.x = i; + point.point.pose.position.y = 0.0; + point.point.longitudinal_velocity_mps = 5.0; // Set constant velocity + in_path.points.emplace_back(point); + } + + // Output path + PathWithLaneId out_path; + + // Execute smoothing + auto result = smoothPath(in_path, out_path, planner_data); + + // Check results + EXPECT_TRUE(result); + + // Check initial and last points + EXPECT_DOUBLE_EQ(out_path.points.front().point.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(out_path.points.front().point.pose.position.y, 0.0); + EXPECT_DOUBLE_EQ(out_path.points.back().point.pose.position.x, 10.0); + EXPECT_DOUBLE_EQ(out_path.points.back().point.pose.position.y, 0.0); + + for (auto & point : out_path.points) { + // Check velocities + EXPECT_LE( + point.point.longitudinal_velocity_mps, + 5.0); // Smoothed velocity must not exceed initial + } +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp new file mode 100644 index 0000000000000..8c8ef575b5a9a --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp @@ -0,0 +1,308 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "./utils.hpp" +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" + +#include +#include +#include +#include +#include + +#include + +using namespace autoware::behavior_velocity_planner; // NOLINT +using namespace autoware::behavior_velocity_planner::planning_utils; // NOLINT +using autoware_planning_msgs::msg::PathPoint; + +TEST(PlanningUtilsTest, calcSegmentIndexFromPointIndex) +{ + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point point; + point.x = 4.5; + point.y = 0.0; + + size_t result = calcSegmentIndexFromPointIndex(path.points, point, 4); + + EXPECT_EQ(result, 4); +} + +TEST(PlanningUtilsTest, calculateOffsetPoint2d) +{ + geometry_msgs::msg::Pose pose; + pose.position.x = 0.0; + pose.position.y = 0.0; + pose.position.z = 0.0; + pose.orientation = tf2::toMsg(tf2::Quaternion(0, 0, 0, 1)); // No rotation + + double offset_x = 1.0; + double offset_y = 1.0; + + auto result = calculateOffsetPoint2d(pose, offset_x, offset_y); + + EXPECT_NEAR(result.x(), 1.0, 0.1); + EXPECT_NEAR(result.y(), 1.0, 0.1); +} + +TEST(PlanningUtilsTest, createDetectionAreaPolygons) +{ + // using namespace autoware::behavior_velocity_planner::planning_utils; + + // Input parameters + Polygons2d da_polys; + tier4_planning_msgs::msg::PathWithLaneId path; + geometry_msgs::msg::Pose target_pose; + size_t target_seg_idx = 0; + autoware::behavior_velocity_planner::DetectionRange da_range; + + da_range.min_longitudinal_distance = 1.0; + da_range.max_longitudinal_distance = 10.0; + da_range.max_lateral_distance = 2.0; + da_range.interval = 5.0; + da_range.wheel_tread = 1.0; + da_range.left_overhang = 0.5; + da_range.right_overhang = 0.5; + da_range.use_left = true; + da_range.use_right = true; + + double obstacle_vel_mps = 0.5; + double min_velocity = 1.0; + + // Path with some points + for (double i = 0.0; i < 3.0; ++i) { + tier4_planning_msgs::msg::PathPointWithLaneId point; + point.point.pose.position.x = i * 5.0; + point.point.pose.position.y = 0.0; + point.point.longitudinal_velocity_mps = 1.0; + path.points.push_back(point); + } + + // Target pose + target_pose.position.x = 0.0; + target_pose.position.y = 0.0; + + // Call the function + bool success = createDetectionAreaPolygons( + da_polys, path, target_pose, target_seg_idx, da_range, obstacle_vel_mps, min_velocity); + + // Assert success + EXPECT_TRUE(success); + + // Validate results + ASSERT_FALSE(da_polys.empty()); + EXPECT_EQ(da_polys.size(), 2); // Expect polygons for left and right bounds + + // Check the first polygon + auto & polygon = da_polys.front(); + EXPECT_EQ(polygon.outer().size(), 7); // Each polygon should be a rectangle + + // Check some specific points + EXPECT_NEAR(polygon.outer()[0].x(), 1.0, 0.1); // Left inner bound + EXPECT_NEAR(polygon.outer()[0].y(), 1.0, 0.1); +} + +// Test for calcJudgeLineDistWithAccLimit +TEST(PlanningUtilsTest, calcJudgeLineDistWithAccLimit) +{ + double velocity = 10.0; // m/s + double max_stop_acceleration = -3.0; // m/s^2 + double delay_response_time = 1.0; // s + + double result = + calcJudgeLineDistWithAccLimit(velocity, max_stop_acceleration, delay_response_time); + + EXPECT_NEAR(result, 26.67, 0.01); // Updated expected value +} + +// Test for calcJudgeLineDistWithJerkLimit +TEST(PlanningUtilsTest, calcJudgeLineDistWithJerkLimit) +{ + double velocity = 10.0; // m/s + double acceleration = 0.0; // m/s^2 + double max_stop_acceleration = -3.0; // m/s^2 + double max_stop_jerk = -1.0; // m/s^3 + double delay_response_time = 1.0; // s + + double result = calcJudgeLineDistWithJerkLimit( + velocity, acceleration, max_stop_acceleration, max_stop_jerk, delay_response_time); + + EXPECT_GT(result, 0.0); // The result should be positive +} + +// Test for isAheadOf +TEST(PlanningUtilsTest, isAheadOf) +{ + geometry_msgs::msg::Pose target; + geometry_msgs::msg::Pose origin; + target.position.x = 10.0; + target.position.y = 0.0; + origin.position.x = 0.0; + origin.position.y = 0.0; + origin.orientation = tf2::toMsg(tf2::Quaternion(0, 0, 0, 1)); // No rotation + + EXPECT_TRUE(isAheadOf(target, origin)); + + target.position.x = -10.0; + EXPECT_FALSE(isAheadOf(target, origin)); +} + +TEST(PlanningUtilsTest, insertDecelPoint) +{ + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point stop_point; + stop_point.x = 5.0; + stop_point.y = 0.0; + + auto stop_pose = insertDecelPoint(stop_point, path, 5.0); + ASSERT_TRUE(stop_pose.has_value()); + EXPECT_NEAR(stop_pose->position.x, 5.0, 0.1); +} + +// Test for insertVelocity +TEST(PlanningUtilsTest, insertVelocity) +{ + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + tier4_planning_msgs::msg::PathPointWithLaneId path_point; + path_point.point.pose.position.x = 5.0; + path_point.point.pose.position.y = 0.0; + path_point.point.longitudinal_velocity_mps = 10.0; + + size_t insert_index = 5; + insertVelocity(path, path_point, 10.0, insert_index); + + EXPECT_EQ(path.points.size(), 11); + EXPECT_NEAR(path.points.at(insert_index).point.longitudinal_velocity_mps, 10.0, 0.1); +} + +// Test for insertStopPoint +TEST(PlanningUtilsTest, insertStopPoint) +{ + { + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point stop_point; + stop_point.x = 5.0; + stop_point.y = 0.0; + + auto stop_pose = insertStopPoint(stop_point, path); + ASSERT_TRUE(stop_pose.has_value()); + EXPECT_NEAR(stop_pose->position.x, 5.0, 0.1); + } + { + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point stop_point; + stop_point.x = 5.0; + stop_point.y = 0.0; + + auto stop_pose = insertStopPoint(stop_point, 4, path); + ASSERT_TRUE(stop_pose.has_value()); + EXPECT_NEAR(stop_pose->position.x, 5.0, 0.1); + } +} + +// Test for getAheadPose +TEST(PlanningUtilsTest, getAheadPose) +{ + tier4_planning_msgs::msg::PathWithLaneId path; + tier4_planning_msgs::msg::PathPointWithLaneId point1; + tier4_planning_msgs::msg::PathPointWithLaneId point2; + tier4_planning_msgs::msg::PathPointWithLaneId point3; + point1.point.pose.position.x = 0.0; + point2.point.pose.position.x = 5.0; + point3.point.pose.position.x = 10.0; + + path.points.emplace_back(point1); + path.points.emplace_back(point2); + path.points.emplace_back(point3); + + double ahead_dist = 7.0; + auto pose = getAheadPose(0, ahead_dist, path); + + EXPECT_NEAR(pose.position.x, 7.0, 0.1); +} + +TEST(PlanningUtilsTest, calcDecelerationVelocityFromDistanceToTarget) +{ + double max_slowdown_jerk = -1.0; // m/s^3 + double max_slowdown_accel = -3.0; // m/s^2 + double current_accel = -1.0; // m/s^2 + double current_velocity = 10.0; // m/s + double distance_to_target = 100.0; // m + + double result = calcDecelerationVelocityFromDistanceToTarget( + max_slowdown_jerk, max_slowdown_accel, current_accel, current_velocity, distance_to_target); + + EXPECT_LT(result, current_velocity); +} + +// Test for toRosPoints +TEST(PlanningUtilsTest, ToRosPoints) +{ + using autoware_perception_msgs::msg::PredictedObject; + PredictedObjects objects; + + // Add a predicted object + PredictedObject obj1; + obj1.kinematics.initial_pose_with_covariance.pose.position.x = 1.0; + obj1.kinematics.initial_pose_with_covariance.pose.position.y = 2.0; + obj1.kinematics.initial_pose_with_covariance.pose.position.z = 3.0; + objects.objects.push_back(obj1); + + // Add another predicted object + PredictedObject obj2; + obj2.kinematics.initial_pose_with_covariance.pose.position.x = 4.0; + obj2.kinematics.initial_pose_with_covariance.pose.position.y = 5.0; + obj2.kinematics.initial_pose_with_covariance.pose.position.z = 6.0; + objects.objects.push_back(obj2); + + auto points = toRosPoints(objects); + + ASSERT_EQ(points.size(), 2); // Verify the number of points + EXPECT_EQ(points[0].x, 1.0); + EXPECT_EQ(points[0].y, 2.0); + EXPECT_EQ(points[0].z, 3.0); + EXPECT_EQ(points[1].x, 4.0); + EXPECT_EQ(points[1].y, 5.0); + EXPECT_EQ(points[1].z, 6.0); +} + +// Test for extendLine +TEST(PlanningUtilsTest, ExtendLine) +{ + lanelet::ConstPoint3d point1(lanelet::InvalId, 0.0, 0.0, 0.0); + lanelet::ConstPoint3d point2(lanelet::InvalId, 1.0, 1.0, 0.0); + double length = 1.0; + + auto extended_line = extendLine(point1, point2, length); + + ASSERT_EQ(extended_line.size(), 2); // Verify the line has two points + + // Check the extended line coordinates + EXPECT_NEAR(extended_line[0].x(), -0.707, 0.001); // Extended in the reverse direction + EXPECT_NEAR(extended_line[0].y(), -0.707, 0.001); + EXPECT_NEAR(extended_line[1].x(), 1.707, 0.001); // Extended in the forward direction + EXPECT_NEAR(extended_line[1].y(), 1.707, 0.001); +} + +TEST(PlanningUtilsTest, getConstLaneletsFromIds) +{ + const auto package_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); + lanelet::LaneletMapPtr map = + autoware::test_utils::loadMap(package_dir + "/test_map/lanelet2_map.osm"); + + auto lanelets = getConstLaneletsFromIds(map, {10333, 10310, 10291}); + + EXPECT_EQ(lanelets.size(), 3); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index 6ffbc52ff3077..eaf93783ae47a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -2,6 +2,68 @@ Changelog for package autoware_behavior_velocity_run_out_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(behavior_velocity_planner): update velocity factor initialization for run out module (`#9352 `_) + feat(behavior_velocity_planner): update velocity factor initialization + Update the initialization of the velocity factor in the RunOutModule of the behavior_velocity_planner. The velocity factor is now initialized for the RUN_OUT behavior instead of the ROUTE_OBSTACLE behavior. +* fix(autoware_behavior_velocity_run_out_module): fix clang-diagnostic-unused-lambda-capture (`#9416 `_) + fix: clang-diagnostic-unused-lambda-capture +* feat(run_out_module): add tests to run out (`#9222 `_) + * WIP add tests for utils and path_utils + * add tests for utils and fix test path utils + * dynamic obstacles + * new tests and add function declarations + * add points for test of extractObstaclePointsWithinPolygon + * add state machine tests and other tests for dynamic obstacle + * remove unused test checks + * remove unused tests + * remove unwanted semicolons + * test + * add comments + * solve cpp-check limitation issue by removing namespaces + --------- +* fix(run_out): output velocity factor (`#9319 `_) + * fix(run_out): output velocity factor + * fix(adapi): subscribe run out velocity factor + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index 6aaab5817aad6..90e1d32198854 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_run_out_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_run_out_module package Tomohito Ando diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp index 983a371234ccf..2823648e184d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include + using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createDefaultMarker; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp index 74b1ca490f752..a15f232b75a37 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp @@ -28,7 +28,9 @@ #include #include +#include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp index f294e698ba8c2..4a16f263d0a54 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp @@ -16,6 +16,7 @@ #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp index cf3c0fd7e10e1..e4e08d69a79f7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp @@ -15,6 +15,9 @@ #include "path_utils.hpp" #include + +#include +#include namespace autoware::behavior_velocity_planner::run_out_utils { /** diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index c3f91d0506388..a32a65a0d8909 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -32,7 +32,9 @@ #include #include +#include #include +#include namespace autoware::behavior_velocity_planner { @@ -63,8 +65,7 @@ void RunOutModule::setPlannerParam(const PlannerParam & planner_param) planner_param_ = planner_param; } -bool RunOutModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool RunOutModule::modifyPathVelocity(PathWithLaneId * path) { // timer starts const auto t_start = std::chrono::system_clock::now(); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp index 4f326aef298be..3673a215bb749 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp @@ -49,7 +49,7 @@ class RunOutModule : public SceneModuleInterface std::unique_ptr dynamic_obstacle_creator, const std::shared_ptr & debug_ptr, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp index 0a23d2218feb0..dafb4e6da097b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp @@ -14,6 +14,8 @@ #include "state_machine.hpp" +#include + namespace autoware::behavior_velocity_planner { namespace run_out_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp index c32d38da2db33..9a9a49c3cb081 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index dda59c346fd20..f0a53b8d7124d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_behavior_velocity_speed_bump_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml index 3018be3e328b8..4940460ba52c1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_speed_bump_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_speed_bump_module package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp index dfe5d4de85300..54ea807f3268b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp @@ -20,6 +20,9 @@ #include +#include +#include + namespace autoware::behavior_velocity_planner { using autoware::motion_utils::calcSignedArcLength; @@ -70,8 +73,7 @@ SpeedBumpModule::SpeedBumpModule( } } -bool SpeedBumpModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool SpeedBumpModule::modifyPathVelocity(PathWithLaneId * path) { if (path->points.empty()) { return false; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp index b909dc80689d5..176a01d5112c5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp @@ -56,7 +56,7 @@ class SpeedBumpModule : public SceneModuleInterface const lanelet::autoware::SpeedBump & speed_bump_reg_elem, const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index 4bfe8d3d74a06..c24c67ff81108 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -2,6 +2,68 @@ Changelog for package autoware_behavior_velocity_stop_line_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_behavior_velocity_stop_line_module): remove unused function (`#9591 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_stop_line_module): refactor and test (`#9424 `_) + * refactor(autoware_behavior_velocity_stop_line_module): refactor and test + * modify + * small changes + * update + * fix test error + * update + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_behavior_velocity_stop_line_module): add maintainer (`#9427 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt index 402eb5e20aa24..f4528f0d13cf4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt @@ -11,4 +11,15 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/scene.cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_scene.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + gtest_main + ${PROJECT_NAME} + ) + target_include_directories(test_${PROJECT_NAME} PRIVATE src) +endif() + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml index 7b1d82a46f652..f5e00fa7087ae 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml @@ -3,8 +3,4 @@ stop_line: stop_margin: 0.0 stop_duration_sec: 1.0 - use_initialization_stop_line_state: true hold_stop_margin_distance: 2.0 - - debug: - show_stop_line_collision_check: false # [-] whether to show stopline collision diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index e24f167eb2058..fd4b9f83ae998 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_stop_line_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_stop_line_module package Yukinari Hisaki @@ -33,6 +33,7 @@ tf2_geometry_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp index 573a260138679..fa94bfbaa361b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp @@ -12,89 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" #include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware/universe_utils/ros/marker_helper.hpp" #include "scene.hpp" -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - namespace autoware::behavior_velocity_planner { -using autoware::universe_utils::appendMarkerArray; -using autoware::universe_utils::createMarkerColor; -using autoware::universe_utils::createMarkerScale; - -namespace -{ -using DebugData = StopLineModule::DebugData; - -visualization_msgs::msg::MarkerArray createStopLineCollisionCheck( - const DebugData & debug_data, const int64_t module_id) -{ - visualization_msgs::msg::MarkerArray msg; - - // Search Segments - { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.ns = "search_segments"; - marker.id = module_id; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::SPHERE_LIST; - marker.action = visualization_msgs::msg::Marker::ADD; - for (const auto & e : debug_data.search_segments) { - marker.points.push_back( - geometry_msgs::build().x(e.at(0).x()).y(e.at(0).y()).z(0.0)); - marker.points.push_back( - geometry_msgs::build().x(e.at(1).x()).y(e.at(1).y()).z(0.0)); - } - marker.scale = createMarkerScale(0.1, 0.1, 0.1); - marker.color = createMarkerColor(0.0, 0.0, 1.0, 0.999); - msg.markers.push_back(marker); - } - - // Search stopline - { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.ns = "search_stopline"; - marker.id = module_id; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::LINE_STRIP; - marker.action = visualization_msgs::msg::Marker::ADD; - const auto p0 = debug_data.search_stopline.at(0); - marker.points.push_back( - geometry_msgs::build().x(p0.x()).y(p0.y()).z(0.0)); - const auto p1 = debug_data.search_stopline.at(1); - marker.points.push_back( - geometry_msgs::build().x(p1.x()).y(p1.y()).z(0.0)); - - marker.scale = createMarkerScale(0.1, 0.1, 0.1); - marker.color = createMarkerColor(1.0, 0.0, 0.0, 0.999); - msg.markers.push_back(marker); - } - - return msg; -} - -} // namespace - -visualization_msgs::msg::MarkerArray StopLineModule::createDebugMarkerArray() -{ - visualization_msgs::msg::MarkerArray debug_marker_array; - if (planner_param_.show_stop_line_collision_check) { - appendMarkerArray( - createStopLineCollisionCheck(debug_data_, module_id_), &debug_marker_array, - this->clock_->now()); - } - return debug_marker_array; -} autoware::motion_utils::VirtualWalls StopLineModule::createVirtualWalls() { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp index ffdcea16b45b5..b305a1d2aa404 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp @@ -15,7 +15,8 @@ #include "manager.hpp" #include "autoware/universe_utils/ros/parameter.hpp" -#include "autoware_lanelet2_extension/utility/query.hpp" + +#include #include #include @@ -28,7 +29,7 @@ using autoware::universe_utils::getOrDeclareParameter; using lanelet::TrafficSign; StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node) -: SceneModuleManagerInterface(node, getModuleName()) +: SceneModuleManagerInterface(node, getModuleName()), planner_param_() { const std::string ns(StopLineModuleManager::getModuleName()); auto & p = planner_param_; @@ -36,11 +37,6 @@ StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node) p.hold_stop_margin_distance = getOrDeclareParameter(node, ns + ".hold_stop_margin_distance"); p.stop_duration_sec = getOrDeclareParameter(node, ns + ".stop_duration_sec"); - p.use_initialization_stop_line_state = - getOrDeclareParameter(node, ns + ".use_initialization_stop_line_state"); - // debug - p.show_stop_line_collision_check = - getOrDeclareParameter(node, ns + ".debug.show_stop_line_collision_check"); } std::vector StopLineModuleManager::getStopLinesWithLaneIdOnPath( @@ -82,10 +78,9 @@ void StopLineModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pat for (const auto & stop_line_with_lane_id : getStopLinesWithLaneIdOnPath(path, planner_data_->route_handler_->getLaneletMapPtr())) { const auto module_id = stop_line_with_lane_id.first.id(); - const auto lane_id = stop_line_with_lane_id.second; if (!isModuleRegistered(module_id)) { registerModule(std::make_shared( - module_id, lane_id, stop_line_with_lane_id.first, planner_param_, + module_id, stop_line_with_lane_id.first, planner_param_, logger_.get_child("stop_line_module"), clock_)); } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp index b83a4f94e9a1f..bef8a5eef4ac0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp @@ -15,7 +15,6 @@ #ifndef MANAGER_HPP_ #define MANAGER_HPP_ -#include "autoware/behavior_velocity_planner_common/plugin_interface.hpp" #include "autoware/behavior_velocity_planner_common/plugin_wrapper.hpp" #include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" #include "scene.hpp" diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 6a4b85cd6926c..2a9c5dab1ebd9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -15,28 +15,30 @@ #include "scene.hpp" #include "autoware/behavior_velocity_planner_common/utilization/util.hpp" -#include "autoware/trajectory/path_point_with_lane_id.hpp" -#include +#include + +#include + +#include +#include namespace autoware::behavior_velocity_planner { StopLineModule::StopLineModule( - const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, - const PlannerParam & planner_param, const rclcpp::Logger & logger, - const rclcpp::Clock::SharedPtr clock) + const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param, + const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), - lane_id_(lane_id), stop_line_(std::move(stop_line)), - state_(State::APPROACH), planner_param_(planner_param), + state_(State::APPROACH), debug_data_() { velocity_factor_.init(PlanningBehavior::STOP_SIGN); } -bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool StopLineModule::modifyPathVelocity(PathWithLaneId * path) { auto trajectory = trajectory::Trajectory::Builder{}.build( @@ -46,132 +48,133 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop return true; } - debug_data_ = DebugData(); - const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - debug_data_.base_link2front = base_link2front; - first_stop_path_point_distance_ = trajectory->length(); - *stop_reason = planning_utils::initializeStopReason(StopReason::STOP_LINE); + auto [ego_s, stop_point] = + getEgoAndStopPoint(*trajectory, planner_data_->current_odometry->pose, state_); - const LineString2d stop_line = planning_utils::extendLine( - stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); - - // Calculate intersection with stop line - const auto trajectory_stop_line_intersection = - trajectory->crossed(stop_line.front(), stop_line.back()); - - // If no collision found, do nothing - if (!trajectory_stop_line_intersection) { - RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 5000 /* ms */, "is no collision"); + if (!stop_point) { return true; } - const double stop_point_s = - *trajectory_stop_line_intersection - - (base_link2front + planner_param_.stop_margin); // consider vehicle length and stop margin + trajectory->longitudinal_velocity_mps.range(*stop_point, trajectory->length()).set(0.0); - if (stop_point_s < 0.0) { - return true; - } + path->points = trajectory->restore(); - const auto stop_pose = trajectory->compute(stop_point_s); + updateVelocityFactor(&velocity_factor_, state_, *stop_point - ego_s); - /** - * @brief : calculate signed arc length consider stop margin from stop line - * - * |----------------------------| - * s---ego----------x--|--------g - */ - const double ego_on_trajectory_s = - trajectory->closest(planner_data_->current_odometry->pose.position); - const double signed_arc_dist_to_stop_point = stop_point_s - ego_on_trajectory_s; + updateStateAndStoppedTime( + &state_, &stopped_time_, clock_->now(), *stop_point - ego_s, planner_data_->isVehicleStopped()); - switch (state_) { - case State::APPROACH: { - // Insert stop pose - trajectory->longitudinal_velocity_mps.range(stop_point_s, trajectory->length()).set(0.0); - - // Update first stop path point distance - first_stop_path_point_distance_ = stop_point_s; - debug_data_.stop_pose = stop_pose.point.pose; - - // Get stop point and stop factor - { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose.point.pose; - stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); - planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::APPROACHING); - } + geometry_msgs::msg::Pose stop_pose = trajectory->compute(*stop_point).point.pose; - // Move to stopped state if stopped - if ( - signed_arc_dist_to_stop_point < planner_param_.hold_stop_margin_distance && - planner_data_->isVehicleStopped()) { - RCLCPP_INFO(logger_, "APPROACH -> STOPPED"); + updateDebugData(&debug_data_, stop_pose, state_); - state_ = State::STOPPED; - stopped_time_ = std::make_shared(clock_->now()); + return true; +} - if (signed_arc_dist_to_stop_point < -planner_param_.hold_stop_margin_distance) { - RCLCPP_ERROR( - logger_, "Failed to stop near stop line but ego stopped. Change state to STOPPED"); - } +std::pair> StopLineModule::getEgoAndStopPoint( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & ego_pose, + const State & state) const +{ + const double ego_s = trajectory.closest(ego_pose.position); + std::optional stop_point_s; + + switch (state) { + case State::APPROACH: { + const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + const LineString2d stop_line = planning_utils::extendLine( + stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); + + // Calculate intersection with stop line + const auto trajectory_stop_line_intersection = + trajectory.crossed(stop_line.front(), stop_line.back()); + + // If no collision found, do nothing + if (!trajectory_stop_line_intersection) { + stop_point_s = std::nullopt; + break; } + stop_point_s = + *trajectory_stop_line_intersection - + (base_link2front + planner_param_.stop_margin); // consider vehicle length and stop margin + + if (*stop_point_s < 0.0) { + stop_point_s = std::nullopt; + } break; } case State::STOPPED: { - // Insert stop pose - trajectory->longitudinal_velocity_mps.range(ego_on_trajectory_s, trajectory->length()) - .set(0.0); - const auto ego_pos_on_path = trajectory->compute(ego_on_trajectory_s).point.pose; - debug_data_.stop_pose = ego_pos_on_path; - - // Get stop point and stop factor - { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = ego_pos_on_path; - stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); - planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::STOPPED); - } + stop_point_s = ego_s; + break; + } - const double elapsed_time = (clock_->now() - *stopped_time_).seconds(); + case State::START: { + stop_point_s = std::nullopt; + break; + } + } + return {ego_s, stop_point_s}; +} - if (planner_param_.stop_duration_sec < elapsed_time) { +void StopLineModule::updateStateAndStoppedTime( + State * state, std::optional * stopped_time, const rclcpp::Time & now, + const double & distance_to_stop_point, const bool & is_vehicle_stopped) const +{ + switch (*state) { + case State::APPROACH: { + if (distance_to_stop_point < planner_param_.hold_stop_margin_distance && is_vehicle_stopped) { + *state = State::STOPPED; + *stopped_time = now; + RCLCPP_INFO(logger_, "APPROACH -> STOPPED"); + + if (distance_to_stop_point < 0.0) { + RCLCPP_WARN(logger_, "Vehicle cannot stop before stop line"); + } + } + break; + } + case State::STOPPED: { + double stop_duration = (now - **stopped_time).seconds(); + if (stop_duration > planner_param_.stop_duration_sec) { + *state = State::START; + stopped_time->reset(); RCLCPP_INFO(logger_, "STOPPED -> START"); - state_ = State::START; } - break; } - case State::START: { - // Initialize if vehicle is far from stop_line - if (planner_param_.use_initialization_stop_line_state) { - if (signed_arc_dist_to_stop_point > planner_param_.hold_stop_margin_distance) { - RCLCPP_INFO(logger_, "START -> APPROACH"); - state_ = State::APPROACH; - } - } - break; } } +} - path->points = trajectory->restore(); - - return true; +void StopLineModule::updateVelocityFactor( + autoware::motion_utils::VelocityFactorInterface * velocity_factor, const State & state, + const double & distance_to_stop_point) +{ + switch (state) { + case State::APPROACH: { + velocity_factor->set(distance_to_stop_point, VelocityFactor::APPROACHING); + break; + } + case State::STOPPED: { + velocity_factor->set(distance_to_stop_point, VelocityFactor::STOPPED); + break; + } + case State::START: + break; + } } -geometry_msgs::msg::Point StopLineModule::getCenterOfStopLine( - const lanelet::ConstLineString3d & stop_line) +void StopLineModule::updateDebugData( + DebugData * debug_data, const geometry_msgs::msg::Pose & stop_pose, const State & state) const { - geometry_msgs::msg::Point center_point; - center_point.x = (stop_line[0].x() + stop_line[1].x()) / 2.0; - center_point.y = (stop_line[0].y() + stop_line[1].y()) / 2.0; - center_point.z = (stop_line[0].z() + stop_line[1].z()) / 2.0; - return center_point; + debug_data->base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + debug_data->stop_pose = stop_pose; + if (state == State::START) { + debug_data->stop_pose = std::nullopt; + } } + } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp index cb48aabe57c1a..9ac1463da8618 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp @@ -14,75 +14,106 @@ #ifndef SCENE_HPP_ #define SCENE_HPP_ +#define EIGEN_MPL2_ONLY #include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" -#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp" #include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware/motion_utils/factor/velocity_factor_interface.hpp" +#include "autoware/trajectory/path_point_with_lane_id.hpp" -#include -#include -#include - -#define EIGEN_MPL2_ONLY #include #include #include +#include + +#include #include +#include +#include + namespace autoware::behavior_velocity_planner { class StopLineModule : public SceneModuleInterface { - using StopLineWithLaneId = std::pair; - public: + using StopLineWithLaneId = std::pair; + using Trajectory = + autoware::trajectory::Trajectory; enum class State { APPROACH, STOPPED, START }; struct DebugData { - double base_link2front; - boost::optional stop_pose; - std::vector search_segments; - LineString2d search_stopline; + double base_link2front; ///< Distance from the base link to the vehicle front. + std::optional stop_pose; ///< Pose of the stop position. }; struct PlannerParam { - double stop_margin; - double stop_duration_sec; - double hold_stop_margin_distance; - bool use_initialization_stop_line_state; - bool show_stop_line_collision_check; + double stop_margin; ///< Margin to the stop line. + double stop_duration_sec; ///< Required stop duration at the stop line. + double + hold_stop_margin_distance; ///< Distance threshold for transitioning to the STOPPED state }; + /** + * @brief Constructor for StopLineModule. + * @param module_id Unique ID for the module. + * @param stop_line Stop line data. + * @param planner_param Planning parameters. + * @param logger Logger for output messages. + * @param clock Shared clock instance. + */ StopLineModule( - const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, + const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; - - visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; + bool modifyPathVelocity(PathWithLaneId * path) override; + + /** + * @brief Calculate ego position and stop point. + * @param trajectory Current trajectory. + * @param ego_pose Current pose of the vehicle. + * @param state Current state of the stop line module. + * @return Pair of ego position and optional stop point. + */ + std::pair> getEgoAndStopPoint( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & ego_pose, + const State & state) const; + + /** + * @brief Update the state and stopped time of the module. + * @param state Pointer to the current state. + * @param stopped_time Pointer to the stopped time. + * @param now Current time. + * @param distance_to_stop_point Distance to the stop point. + * @param is_vehicle_stopped Flag indicating if the vehicle is stopped. + */ + void updateStateAndStoppedTime( + State * state, std::optional * stopped_time, const rclcpp::Time & now, + const double & distance_to_stop_point, const bool & is_vehicle_stopped) const; + + static void updateVelocityFactor( + autoware::motion_utils::VelocityFactorInterface * velocity_factor, const State & state, + const double & distance_to_stop_point); + + void updateDebugData( + DebugData * debug_data, const geometry_msgs::msg::Pose & stop_pose, const State & state) const; + + visualization_msgs::msg::MarkerArray createDebugMarkerArray() override + { + return visualization_msgs::msg::MarkerArray{}; + } autoware::motion_utils::VirtualWalls createVirtualWalls() override; private: - std::shared_ptr stopped_time_; - - geometry_msgs::msg::Point getCenterOfStopLine(const lanelet::ConstLineString3d & stop_line); - - int64_t lane_id_; - - lanelet::ConstLineString3d stop_line_; - - // State machine - State state_; - - // Parameter - PlannerParam planner_param_; - - // Debug - DebugData debug_data_; + const lanelet::ConstLineString3d stop_line_; ///< Stop line geometry. + const PlannerParam planner_param_; ///< Parameters for the planner. + State state_; ///< Current state of the module. + std::optional stopped_time_; ///< Time when the vehicle stopped. + DebugData debug_data_; ///< Debug information. }; } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp new file mode 100644 index 0000000000000..1eafb71eb403c --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp @@ -0,0 +1,143 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/scene.hpp" + +#include +#include +#include + +#include + +#include + +#include +#include +#include + +using autoware::behavior_velocity_planner::StopLineModule; + +tier4_planning_msgs::msg::PathPointWithLaneId path_point(double x, double y) +{ + tier4_planning_msgs::msg::PathPointWithLaneId p; + p.point.pose.position.x = x; + p.point.pose.position.y = y; + return p; +} + +class StopLineModuleTest : public ::testing::Test +{ +protected: + // Set up the test case + void SetUp() override + { + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.arguments( + {"--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common") + + "/config/behavior_velocity_planner_common.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/config/test_vehicle_info.param.yaml"}); + node_ = std::make_shared("test_node", options); + + // Initialize parameters, logger, and clock + planner_param_.stop_margin = 0.5; + planner_param_.stop_duration_sec = 2.0; + planner_param_.hold_stop_margin_distance = 0.5; + + planner_data_ = std::make_shared(*node_); + planner_data_->stop_line_extend_length = 5.0; + planner_data_->vehicle_info_.max_longitudinal_offset_m = 1.0; + + stop_line_ = lanelet::ConstLineString3d( + lanelet::utils::getId(), {lanelet::Point3d(lanelet::utils::getId(), 7.0, -1.0, 0.0), + lanelet::Point3d(lanelet::utils::getId(), 7.0, 1.0, 0.0)}); + + trajectory_ = *StopLineModule::Trajectory::Builder{}.build( + {path_point(0.0, 0.0), path_point(1.0, 0.0), path_point(2.0, 0.0), path_point(3.0, 0.0), + path_point(4.0, 0.0), path_point(5.0, 0.0), path_point(6.0, 0.0), path_point(7.0, 0.0), + path_point(8.0, 0.0), path_point(9.0, 0.0), path_point(10.0, 0.0)}); + + clock_ = std::make_shared(); + + module_ = std::make_shared( + 1, stop_line_, planner_param_, rclcpp::get_logger("test_logger"), clock_); + + module_->setPlannerData(planner_data_); + } + + void TearDown() override { rclcpp::shutdown(); } + + StopLineModule::Trajectory trajectory_; + StopLineModule::PlannerParam planner_param_{}; + lanelet::ConstLineString3d stop_line_; + rclcpp::Clock::SharedPtr clock_; + std::shared_ptr module_; + std::shared_ptr planner_data_; + + rclcpp::Node::SharedPtr node_; +}; + +TEST_F(StopLineModuleTest, TestGetEgoAndStopPoint) +{ + // Prepare trajectory and other parameters + geometry_msgs::msg::Pose ego_pose; + ego_pose.position.x = 5.0; + ego_pose.position.y = 1.0; + + // Execute the function + auto [ego_s, stop_point_s] = + module_->getEgoAndStopPoint(trajectory_, ego_pose, StopLineModule::State::APPROACH); + + // Verify results + EXPECT_DOUBLE_EQ(ego_s, 5.0); + EXPECT_DOUBLE_EQ(stop_point_s.value(), 7.0 - 0.5 - 1.0); + + std::tie(ego_s, stop_point_s) = + module_->getEgoAndStopPoint(trajectory_, ego_pose, StopLineModule::State::STOPPED); + + EXPECT_DOUBLE_EQ(ego_s, 5.0); + EXPECT_DOUBLE_EQ(stop_point_s.value(), 5.0); +} + +TEST_F(StopLineModuleTest, TestUpdateStateAndStoppedTime) +{ + StopLineModule::State state = StopLineModule::State::APPROACH; + std::optional stopped_time; + double distance_to_stop_point = 0.1; + bool is_vehicle_stopped = true; + + // Simulate clock progression + auto test_start_time = clock_->now(); + stopped_time = test_start_time; + + // Execute the function + module_->updateStateAndStoppedTime( + &state, &stopped_time, test_start_time, distance_to_stop_point, is_vehicle_stopped); + + // Verify state transition to STOPPED + EXPECT_EQ(state, StopLineModule::State::STOPPED); + EXPECT_TRUE(stopped_time.has_value()); + + // Simulate time elapsed to exceed stop duration + auto now = test_start_time + rclcpp::Duration::from_seconds(3.0); + module_->updateStateAndStoppedTime( + &state, &stopped_time, now, distance_to_stop_point, is_vehicle_stopped); + + // Verify state transition to START + EXPECT_EQ(state, StopLineModule::State::START); + EXPECT_FALSE(stopped_time.has_value()); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index 361738a56b5b4..4fb540814a9f1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_behavior_velocity_template_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml index d0c43166cd670..e808e7758bd65 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_template_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_template_module package Daniel Sanchez diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp index 0394b0c9e381f..3ce8502baaf63 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp @@ -42,8 +42,7 @@ autoware::motion_utils::VirtualWalls TemplateModule::createVirtualWalls() return vw; } -bool TemplateModule::modifyPathVelocity( - [[maybe_unused]] PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool TemplateModule::modifyPathVelocity([[maybe_unused]] PathWithLaneId * path) { RCLCPP_INFO_ONCE(logger_, "Template Module is executing!"); return false; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp index 9789ee37aa669..70cd5cb1235e7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp @@ -38,10 +38,9 @@ class TemplateModule : public SceneModuleInterface * specific criteria. * * @param path A pointer to the path containing points to be modified. - * @param stop_reason A pointer to the stop reason data. * @return [bool] wether the path velocity was modified or not. */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; /** * @brief Create a visualization of debug markers. diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 80f08e3aec044..669882a37bbce 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,64 @@ Changelog for package autoware_behavior_velocity_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo, awf-autoware-bot[bot] + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 244d03553351b..082973d9431e5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_traffic_light_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_traffic_light_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index 0d7c77d5e1b59..b6747724ba6f7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -57,34 +57,20 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat velocity_factor_array.header.frame_id = "map"; velocity_factor_array.header.stamp = clock_->now(); - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; - stop_reason_array.header.frame_id = "map"; - stop_reason_array.header.stamp = path->header.stamp; - - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); nearest_ref_stop_path_point_index_ = static_cast(path->points.size() - 1); for (const auto & scene_module : scene_modules_) { - tier4_planning_msgs::msg::StopReason stop_reason; std::shared_ptr traffic_light_scene_module( std::dynamic_pointer_cast(scene_module)); traffic_light_scene_module->resetVelocityFactor(); traffic_light_scene_module->setPlannerData(planner_data_); - traffic_light_scene_module->modifyPathVelocity(path, &stop_reason); + traffic_light_scene_module->modifyPathVelocity(path); // The velocity factor must be called after modifyPathVelocity. const auto velocity_factor = traffic_light_scene_module->getVelocityFactor(); if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) { velocity_factor_array.factors.emplace_back(velocity_factor); } - if (stop_reason.reason != "") { - stop_reason_array.stop_reasons.emplace_back(stop_reason); - } - if ( - traffic_light_scene_module->getFirstStopPathPointDistance() < - first_stop_path_point_distance_) { - first_stop_path_point_distance_ = traffic_light_scene_module->getFirstStopPathPointDistance(); - } if ( traffic_light_scene_module->getFirstRefStopPathPointIndex() < nearest_ref_stop_path_point_index_) { @@ -102,9 +88,6 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat virtual_wall_marker_creator_.add_virtual_walls( traffic_light_scene_module->createVirtualWalls()); } - if (!stop_reason_array.stop_reasons.empty()) { - pub_stop_reason_->publish(stop_reason_array); - } pub_velocity_factor_->publish(velocity_factor_array); pub_debug_->publish(debug_marker_array); pub_virtual_wall_->publish(virtual_wall_marker_creator_.create_markers(clock_->now())); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index c59071f2043bb..5eb0d5aa5f267 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -25,6 +25,8 @@ #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else @@ -54,13 +56,11 @@ TrafficLightModule::TrafficLightModule( planner_param_ = planner_param; } -bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); first_ref_stop_path_point_index_ = static_cast(path->points.size()) - 1; - *stop_reason = planning_utils::initializeStopReason(StopReason::TRAFFIC_LIGHT); const auto input_path = *path; @@ -133,8 +133,7 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Decide whether to stop or pass even if a stop signal is received. if (!isPassthrough(signed_arc_length_to_stop_point)) { - *path = - insertStopPose(input_path, stop_line.value().first, stop_line.value().second, stop_reason); + *path = insertStopPose(input_path, stop_line.value().first, stop_line.value().second); is_prev_state_stop_ = true; } return true; @@ -275,7 +274,7 @@ bool TrafficLightModule::isTrafficSignalTimedOut() const tier4_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopPose( const tier4_planning_msgs::msg::PathWithLaneId & input, const size_t & insert_target_point_idx, - const Eigen::Vector2d & target_point, tier4_planning_msgs::msg::StopReason * stop_reason) + const Eigen::Vector2d & target_point) { tier4_planning_msgs::msg::PathWithLaneId modified_path; modified_path = input; @@ -292,24 +291,9 @@ tier4_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopPose( size_t insert_index = insert_target_point_idx; planning_utils::insertVelocity(modified_path, target_point_with_lane_id, 0.0, insert_index); - const double target_velocity_point_distance = autoware::motion_utils::calcArcLength(std::vector( - modified_path.points.begin(), modified_path.points.begin() + target_velocity_point_idx)); - if (target_velocity_point_distance < first_stop_path_point_distance_) { - first_stop_path_point_distance_ = target_velocity_point_distance; - debug_data_.first_stop_pose = target_point_with_lane_id.point.pose; - } - - // Get stop point and stop factor - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = debug_data_.first_stop_pose; - if (debug_data_.highest_confidence_traffic_light_point != std::nullopt) { - stop_factor.stop_factor_points = std::vector{ - debug_data_.highest_confidence_traffic_light_point.value()}; - } velocity_factor_.set( modified_path.points, planner_data_->current_odometry->pose, target_point_with_lane_id.point.pose, VelocityFactor::UNKNOWN); - planning_utils::appendStopReason(stop_factor, stop_reason); return modified_path; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp index e35d9f86fbe46..8221bb3740273 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp @@ -71,7 +71,7 @@ class TrafficLightModule : public SceneModuleInterface lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -90,7 +90,7 @@ class TrafficLightModule : public SceneModuleInterface tier4_planning_msgs::msg::PathWithLaneId insertStopPose( const tier4_planning_msgs::msg::PathWithLaneId & input, const size_t & insert_target_point_idx, - const Eigen::Vector2d & target_point, tier4_planning_msgs::msg::StopReason * stop_reason); + const Eigen::Vector2d & target_point); bool isPassthrough(const double & signed_arc_length) const; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp index c9eb93abb2e2f..9b13123380ce1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware::behavior_velocity_planner { namespace bg = boost::geometry; @@ -32,8 +34,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co } auto findNearestCollisionPoint( - const LineString2d & line1, const LineString2d & line2, - const Point2d & origin) -> std::optional + const LineString2d & line1, const LineString2d & line2, const Point2d & origin) + -> std::optional { std::vector collision_points; bg::intersection(line1, line2, collision_points); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp index c6655064d3ffa..ad4ed84cea116 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp @@ -48,8 +48,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co * @return intersection point. if there is no intersection point, return std::nullopt. */ auto findNearestCollisionPoint( - const LineString2d & line1, const LineString2d & line2, - const Point2d & origin) -> std::optional; + const LineString2d & line1, const LineString2d & line2, const Point2d & origin) + -> std::optional; /** * @brief find intersection point between path and stop line and return the point. diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index f811d901e6489..731c1967b5a1d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index b1ecfdb26bcde..6d3bc68242d7c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_virtual_traffic_light_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp index 2be77b2731fe0..2b4acd7ff0ca9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp @@ -18,6 +18,8 @@ #include #include #include + +#include using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::createDefaultMarker; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp index e60e2a42e3a47..206fb14b6d41c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp @@ -97,11 +97,10 @@ VirtualTrafficLightModule::VirtualTrafficLightModule( logger_ = logger_.get_child((map_data_.instrument_type + "_" + map_data_.instrument_id).c_str()); } -bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path) { // Initialize setInfrastructureCommand({}); - *stop_reason = planning_utils::initializeStopReason(StopReason::VIRTUAL_TRAFFIC_LIGHT); module_data_ = {}; @@ -150,7 +149,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Stop at stop_line if no message received if (!virtual_traffic_light_state) { RCLCPP_DEBUG(logger_, "no message received"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); updateInfrastructureCommand(); return true; } @@ -158,7 +157,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Stop at stop_line if no right is given if (!hasRightOfWay(*virtual_traffic_light_state)) { RCLCPP_DEBUG(logger_, "no right is given"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); updateInfrastructureCommand(); return true; } @@ -167,7 +166,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe if (isBeforeStopLine(end_line_idx)) { if (isStateTimeout(*virtual_traffic_light_state)) { RCLCPP_DEBUG(logger_, "state is timeout before stop line"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); } updateInfrastructureCommand(); @@ -181,7 +180,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe if ( planner_param_.check_timeout_after_stop_line && isStateTimeout(*virtual_traffic_light_state)) { RCLCPP_DEBUG(logger_, "state is timeout after stop line"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); updateInfrastructureCommand(); return true; } @@ -189,7 +188,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Stop at stop_line if finalization isn't completed if (!virtual_traffic_light_state->is_finalized) { RCLCPP_DEBUG(logger_, "finalization isn't completed"); - insertStopVelocityAtEndLine(path, stop_reason, end_line_idx); + insertStopVelocityAtEndLine(path, end_line_idx); if (isNearAnyEndLine(end_line_idx) && planner_data_->isVehicleStopped()) { state_ = State::FINALIZING; @@ -207,15 +206,6 @@ void VirtualTrafficLightModule::updateInfrastructureCommand() setInfrastructureCommand(command_); } -void VirtualTrafficLightModule::setStopReason( - const geometry_msgs::msg::Pose & stop_pose, tier4_planning_msgs::msg::StopReason * stop_reason) -{ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(toMsg(map_data_.instrument_center)); - planning_utils::appendStopReason(stop_factor, stop_reason); -} - std::optional VirtualTrafficLightModule::getPathIndexOfFirstEndLine() { std::optional min_seg_idx; @@ -376,8 +366,7 @@ bool VirtualTrafficLightModule::hasRightOfWay( } void VirtualTrafficLightModule::insertStopVelocityAtStopLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx) + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx) { const auto collision = findLastCollisionBeforeEndLine(path->points, *map_data_.stop_line, end_line_idx); @@ -428,7 +417,6 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( } // Set StopReason - setStopReason(stop_pose, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN, command_.type); @@ -439,8 +427,7 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( } void VirtualTrafficLightModule::insertStopVelocityAtEndLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx) + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx) { const auto collision = findLastCollisionBeforeEndLine(path->points, map_data_.end_lines, end_line_idx); @@ -463,7 +450,6 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine( } // Set StopReason - setStopReason(stop_pose, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp index e4e58e4288354..b031ba5b2bb2b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp @@ -79,7 +79,7 @@ class VirtualTrafficLightModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -96,8 +96,6 @@ class VirtualTrafficLightModule : public SceneModuleInterface void updateInfrastructureCommand(); - void setStopReason(const Pose & stop_pose, StopReason * stop_reason); - void setVelocityFactor( const geometry_msgs::msg::Pose & stop_pose, autoware_adapi_v1_msgs::msg::VelocityFactor * velocity_factor); @@ -119,12 +117,10 @@ class VirtualTrafficLightModule : public SceneModuleInterface bool hasRightOfWay(const tier4_v2x_msgs::msg::VirtualTrafficLightState & state); void insertStopVelocityAtStopLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx); + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx); void insertStopVelocityAtEndLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx); + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx); }; } // namespace autoware::behavior_velocity_planner #endif // SCENE_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp index 940e29f0a0c0e..a1950bf768f4c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include namespace autoware::behavior_velocity_planner::virtual_traffic_light { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp index dd01b1be7fb83..e6bfa0234951c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp @@ -19,7 +19,9 @@ #include +#include #include +#include using autoware::behavior_velocity_planner::virtual_traffic_light::calcCenter; using autoware::behavior_velocity_planner::virtual_traffic_light::calcHeadPose; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index 1d9d0a1dbc9da..40a8bcf82e7b9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_behavior_velocity_walkway_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_walkway_module): fix clang-diagnostic-unused-lambda-capture (`#9415 `_) + fix: clang-diagnostic-unused-lambda-capture +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml index 03724767271fe..5f1aea22855a4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_walkway_module - 0.38.0 + 0.40.0 The autoware_behavior_velocity_walkway_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index 765732969951d..6a7505930a334 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { @@ -81,12 +82,11 @@ std::pair WalkwayModule::getStopLine( return std::make_pair(dist_ego_to_stop, p_stop_line); } -bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path) { const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_ = DebugData(planner_data_); - *stop_reason = planning_utils::initializeStopReason(StopReason::WALKWAY); const auto input = *path; @@ -119,10 +119,6 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ } /* get stop point and stop factor */ - StopFactor stop_factor; - stop_factor.stop_pose = stop_pose.value(); - stop_factor.stop_factor_points.push_back(path_end_points_on_walkway->first); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose.value(), VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp index a400f57451d2e..df54eafd11cc2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp @@ -46,7 +46,7 @@ class WalkwayModule : public SceneModuleInterface const PlannerParam & planner_param, const bool use_regulatory_element, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index 18a98316008ce..118b555408997 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml index 5916d20f5c42e..eef7b6af1f9af 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_dynamic_obstacle_stop_module - 0.38.0 + 0.40.0 dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp index 3f544c792d8e6..21726c43e12d6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp @@ -17,6 +17,7 @@ #include #include +#include namespace autoware::motion_velocity_planner::dynamic_obstacle_stop { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index 8519142e059eb..c1310671d02fa 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp index 020b15ba5133b..79b817c51169c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp @@ -17,6 +17,7 @@ #include #include +#include using autoware::motion_velocity_planner::obstacle_velocity_limiter::CollisionChecker; using autoware::motion_velocity_planner::obstacle_velocity_limiter::linestring_t; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml index cd9dd1b756b64..68e2ead5a5ec7 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml @@ -1,7 +1,7 @@ autoware_motion_velocity_obstacle_velocity_limiter_module - 0.38.0 + 0.40.0 Package to adjust velocities of a trajectory in order for the ride to feel safe Maxime CLEMENT diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp index 4d9859dba90da..ea83aafebfbb7 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp index 1796c65b42de0..c0894673d81f3 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp @@ -23,6 +23,8 @@ #include #include +#include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp index 1f788a73a3f42..e501b756af6a1 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp index 35135089c0c8c..3fa3ec7cbf782 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp @@ -33,6 +33,9 @@ #include #include +#include +#include +#include namespace autoware::motion_velocity_planner { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp index 0b8aad36580e6..d7b8e128b3cee 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp @@ -24,6 +24,7 @@ #include #include +#include constexpr auto EPS = 1e-15; constexpr auto EPS_APPROX = 1e-3; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index 35ad88f5955db..4fe77d0532fce 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_motion_velocity_out_of_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 18e072191905e..857716819d8cc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_out_of_lane_module - 0.38.0 + 0.40.0 The motion_velocity_out_of_lane_module package Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst index 2de2517dbf0e5..50db2374baedc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_motion_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml index 9f518044b9d05..3f0c027a5c986 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_common - 0.38.0 + 0.40.0 Common functions and interfaces for motion_velocity_planner modules Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp index 6e84b63a3c7fc..f16c23efcb14c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp @@ -14,6 +14,10 @@ #include "autoware/motion_velocity_planner_common/collision_checker.hpp" +#include +#include +#include + namespace autoware::motion_velocity_planner { CollisionChecker::CollisionChecker(autoware::universe_utils::MultiPolygon2d trajectory_footprints) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp index 5988272b39ae1..d2a4a4560a430 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp @@ -19,6 +19,8 @@ #include #include +#include +#include #include using autoware::motion_velocity_planner::CollisionChecker; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst index aabf62dffd79d..4a6dc3095391f 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst @@ -2,6 +2,92 @@ Changelog for package autoware_motion_velocity_planner_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index 3e68d8262aae9..186140cba6e3c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_node - 0.38.0 + 0.40.0 Node of the motion_velocity_planner Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index 0e8a36977fec8..96865fec1c197 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -36,6 +36,7 @@ #include #include #include +#include #include namespace diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp index 416ad215d5e25..b08798cbef772 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::motion_velocity_planner { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp index c35749ef33710..44ff7820c1566 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp @@ -20,6 +20,8 @@ #include +#include +#include #include using autoware::motion_velocity_planner::MotionVelocityPlannerNode; diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index 3b3d46ee59b79..fa7e4a3bb0808 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_bezier_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml index 5293a01de4577..249d64d770af5 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml @@ -1,7 +1,7 @@ autoware_bezier_sampler - 0.38.0 + 0.40.0 Package to sample trajectories using Bézier curves Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp index 9a882ad06659a..e7a1901fc83ab 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp +++ b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp @@ -15,6 +15,9 @@ #include #include +#include +#include +#include namespace autoware::bezier_sampler { diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp index e9a1a9ef32de5..c36b8f88c8486 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp +++ b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp @@ -14,6 +14,8 @@ #include +#include + namespace autoware::bezier_sampler { std::vector sample( diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index 9d539fa198df1..eff4108b3fc03 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_frenet_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml index 8a6d4d487580d..cd5febc3267db 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml +++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml @@ -1,7 +1,7 @@ autoware_frenet_planner - 0.38.0 + 0.40.0 The autoware_frenet_planner package for trajectory generation in Frenet frame Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp index faabd0bcfdbe5..cab4acfbb8556 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp +++ b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp @@ -30,6 +30,7 @@ #include #include #include +#include namespace autoware::frenet_planner { diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index 6ad80c1f48ae0..a50f2a0ad3aed 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_path_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index c4dafda08a14c..142eafdfa4bfe 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -2,7 +2,7 @@ autoware_path_sampler - 0.38.0 + 0.40.0 Package for the sampling-based path planner Maxime CLEMENT Apache License 2.0 diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp index 34905f79cd364..fd07516d61bbf 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp +++ b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp @@ -27,8 +27,11 @@ #include +#include #include #include +#include +#include namespace autoware::path_sampler { diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp index 127393abc5ac3..7f313318af236 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp +++ b/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp @@ -25,6 +25,7 @@ #include #include +#include #include #include #include diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index c571077d5d029..7e0eaaf4e7376 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_sampler_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index d110807877761..eb08c8125d3ee 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -1,7 +1,7 @@ autoware_sampler_common - 0.38.0 + 0.40.0 Common classes and functions for sampling based planners Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp b/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp index ce473b1768a54..6c9447f25def0 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp +++ b/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp @@ -18,6 +18,7 @@ #include #include #include +#include namespace autoware::sampler_common::transform { diff --git a/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp b/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp index 6c5f43e929766..8229f5b9c9e41 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp +++ b/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp @@ -17,8 +17,10 @@ #include #include +#include #include #include +#include constexpr auto TOL = 1E-6; // 1µm tolerance @@ -103,9 +105,9 @@ TEST(splineTransform, benchFrenet) EXPECT_NEAR(frenet_naive.d, frenet_lut.d, precision); } std::cout << "size = " << size << std::endl; - std::cout << "\tnaive: " << std::chrono::duration_cast(naive).count() - << "ms\n"; - std::cout << "\tlut : " << std::chrono::duration_cast(lut).count() + std::cout << "\t naive: " + << std::chrono::duration_cast(naive).count() << "ms\n"; + std::cout << "\t lut : " << std::chrono::duration_cast(lut).count() << "ms\n"; } } diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index f5437230cc80d..92a99bc8d3267 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -1,6 +1,49 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package cuda_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_cuda_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` directory" (`#9394 `_) + Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` direc…" + This reverts commit be8235d785597c41d01782ec35da862ba0906578. +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml index ea65eda9a11f5..32a29133201ec 100644 --- a/sensing/autoware_cuda_utils/package.xml +++ b/sensing/autoware_cuda_utils/package.xml @@ -1,7 +1,7 @@ autoware_cuda_utils - 0.38.0 + 0.40.0 cuda utility library Daisuke Nishimatsu diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst index 551ed898b5663..8195195c9b15c 100644 --- a/sensing/autoware_gnss_poser/CHANGELOG.rst +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_gnss_poser ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md index 9619038492af0..cdd67bde027d2 100644 --- a/sensing/autoware_gnss_poser/README.md +++ b/sensing/autoware_gnss_poser/README.md @@ -17,7 +17,7 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out | Name | Type | Description | | ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | -| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectorInfo` | map projection info | +| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectorInfo` | map projection info | | `~/input/fix` | `sensor_msgs::msg::NavSatFix` | gnss status message | | `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) | diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index defcff66a1518..6414ccbabca3f 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -2,7 +2,7 @@ autoware_gnss_poser - 0.38.0 + 0.40.0 The ROS 2 autoware_gnss_poser package Yamato Ando Masahiro Sakamoto diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst index cc0f34ff1a90b..1486e459e4754 100644 --- a/sensing/autoware_image_diagnostics/CHANGELOG.rst +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_image_diagnostics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml index cbf2579081b99..2e4556de2b92b 100644 --- a/sensing/autoware_image_diagnostics/package.xml +++ b/sensing/autoware_image_diagnostics/package.xml @@ -2,7 +2,7 @@ autoware_image_diagnostics - 0.38.0 + 0.40.0 The autoware_image_diagnostics package Dai Nguyen Yoshi Ri diff --git a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp index 829e0e3ee8d81..681e9ae70a89c 100644 --- a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp +++ b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp @@ -16,6 +16,7 @@ #include +#include #include namespace autoware::image_diagnostics diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst index faf96ac052e25..57968c49291c0 100644 --- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_image_transport_decompressor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml index 00de3283895c8..0ee5a60b2f46e 100644 --- a/sensing/autoware_image_transport_decompressor/package.xml +++ b/sensing/autoware_image_transport_decompressor/package.xml @@ -2,7 +2,7 @@ autoware_image_transport_decompressor - 0.38.0 + 0.40.0 The image_transport_decompressor package Yukihiro Saito Kenzo Lobos-Tsunekawa diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst index 3ee386a1481f3..fe36ee24880e0 100644 --- a/sensing/autoware_imu_corrector/CHANGELOG.rst +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_imu_corrector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml index 2b33890d4dbd8..94a2e3fe83071 100644 --- a/sensing/autoware_imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -2,7 +2,7 @@ autoware_imu_corrector - 0.38.0 + 0.40.0 The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp index 18d7965470f05..2fbd5d4a6a39e 100644 --- a/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::imu_corrector { diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp index ec91311455911..8dcc024ffc2b4 100644 --- a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp @@ -19,7 +19,9 @@ #include #include +#include #include +#include namespace autoware::imu_corrector { diff --git a/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp index a9acb45888945..d615a721ca5eb 100644 --- a/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp @@ -14,6 +14,9 @@ #include "imu_corrector_core.hpp" +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp index 573dbe84d6027..2d75c6d50de55 100644 --- a/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::imu_corrector { class GyroBiasEstimationModuleTest : public ::testing::Test diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst index 7d0c642b6ff8b..56c9f0bdff0dc 100644 --- a/sensing/autoware_pcl_extensions/CHANGELOG.rst +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_pcl_extensions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml index 4601a043980b1..840bd976b5b5f 100644 --- a/sensing/autoware_pcl_extensions/package.xml +++ b/sensing/autoware_pcl_extensions/package.xml @@ -2,7 +2,7 @@ autoware_pcl_extensions - 0.38.0 + 0.40.0 The autoware_pcl_extensions package Ryu Yamamoto Kenzo Lobos Tsunekawa diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst index 126b444134bc8..ad1ce2aaf8464 100644 --- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -2,6 +2,71 @@ Changelog for package autoware_pointcloud_preprocessor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* fix(autoware_pointcloud_preprocessor): remove unused arg and unavailable param file. (`#9525 `_) + Remove unused arg and unavailable param file. +* fix(autoware_pointcloud_preprocessor): fix clang-diagnostic-inconsistent-missing-override (`#9445 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore: update license of pointcloud preprocessor (`#9397 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_pointcloud_preprocessor): clang-tidy error in distortion corrector (`#9412 `_) + fix: clang-tidy +* fix(autoware_pointcloud_preprocessor): clang-tidy for overrides (`#9414 `_) + fix: clang-tidy for overrides +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name +* fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- +* Contributors: Daisuke Nishimatsu, Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mukunda Bharatheesha, Ryohsuke Mitsudome, Ryuta Kambe, Yi-Hsiang Fang (Vivid), Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name +* fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- +* Contributors: Esteve Fernandez, Yi-Hsiang Fang (Vivid), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml index f4375e5a5cd2f..8912847ce1e4a 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml index bb07daf8841b9..4cb9c9412df00 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml @@ -3,11 +3,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml index d0293ca140e4f..5c79787a58e9e 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml @@ -4,11 +4,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml index 7c035cbcf1b52..83c0fe9a20d4c 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml index 3f132a1586a36..1305ce5992866 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml index 665c8d7c6e37c..cdd1f8589f3e3 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml index 4663cece6ea60..12109ffec5b38 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml @@ -4,11 +4,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml index 68076f5c9c321..df45e81653303 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml @@ -3,11 +3,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml index 800fa5f3ec3ee..36f30fc2d41ee 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml @@ -4,11 +4,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml index 795234e185cdd..f5980b0814edc 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml @@ -3,10 +3,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml index f674e8d9dfa14..90a2b9993fc18 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml index 380a46eed3159..e1b963922a2ff 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index 85e42b4291626..4511c5497a3a0 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -2,7 +2,7 @@ autoware_pointcloud_preprocessor - 0.38.0 + 0.40.0 The ROS 2 autoware_pointcloud_preprocessor package amc-nu Yukihiro Saito diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp index 26be762acca43..5021a3551c939 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index a67c9f7f018e1..f8baae3405873 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -58,6 +58,7 @@ #include #include +#include #include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp index c1b3605c8b97c..ecbc5b8fd13ef 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp @@ -53,6 +53,7 @@ #include +#include #include namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index 43a44f836b61a..8391894a4ada6 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -20,6 +20,10 @@ #include #include +#include +#include +#include + namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index 896c7fe563e64..9eaafeae9dbc7 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -16,6 +16,10 @@ #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" +#include +#include +#include + namespace autoware::pointcloud_preprocessor { /** @brief Constructor. */ diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp index 9a01ba3ddc1b1..804a91591271d 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -15,6 +15,7 @@ #include "autoware/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp" #include +#include namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp index e3c6af7433dda..10e2fa2511478 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp @@ -16,6 +16,9 @@ #include "robin_hood.h" +#include +#include + namespace { /** diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h index dd5cc9d60dd76..55307a2aa5552 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h @@ -68,6 +68,7 @@ #include #include #include +#include #if __cplusplus >= 201703L #include #endif @@ -85,7 +86,7 @@ #ifdef ROBIN_HOOD_TRACE_ENABLED #include #define ROBIN_HOOD_TRACE(...) \ - std::cout << __FUNCTION__ << "@" << __LINE__ << ": " << __VA_ARGS__ << std::endl; + std::cout << __FUNCTION__ << "@" << __LINE__ << ": " << __VA_ARGS__ << std::endl; // NOLINT #else #define ROBIN_HOOD_TRACE(x) #endif diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp index 59000d71b8ad6..fae9043143ba4 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp @@ -19,6 +19,8 @@ #include #include +#include +#include #include namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp b/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp index 71b4c2026396e..e4bac9e35c248 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp @@ -14,6 +14,8 @@ #include "autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp" +#include + namespace autoware::pointcloud_preprocessor { PolygonRemoverComponent::PolygonRemoverComponent(const rclcpp::NodeOptions & options) diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index 5bf5069f1200f..42170fd88ee36 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -28,6 +28,7 @@ #include #include +#include #include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp index 7e9604c3dd305..1d08df944ca18 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp @@ -14,6 +14,8 @@ #include "autoware/pointcloud_preprocessor/utility/geometry.hpp" +#include + namespace autoware::pointcloud_preprocessor::utils { void to_cgal_polygon(const geometry_msgs::msg::Polygon & polygon_in, PolygonCgal & polygon_out) diff --git a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp index 6fdf7791601cf..310b86526193c 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp @@ -14,6 +14,10 @@ #include "autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp" +#include +#include +#include + namespace { autoware::universe_utils::Box2d calcBoundingBox( diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index 895061229a994..aba3c354473eb 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -41,6 +41,10 @@ #include #include +#include +#include +#include +#include enum AngleCoordinateSystem { HESAI, VELODYNE, CARTESIAN }; class DistortionCorrectorTest : public ::testing::Test diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst index b9fe1abe13093..4d92b7237c281 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_radar_scan_to_pointcloud2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml index bd0ed8ee717db..b14615cfb68ea 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml +++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml @@ -1,7 +1,7 @@ autoware_radar_scan_to_pointcloud2 - 0.38.0 + 0.40.0 autoware_radar_scan_to_pointcloud2 Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst index c7ee62041f611..b66f99ba578a6 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_radar_static_pointcloud_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml index 744148517aafe..943bd71f29da7 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/package.xml +++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_static_pointcloud_filter - 0.38.0 + 0.40.0 autoware_radar_static_pointcloud_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst index 366301da6ea56..e217daeca5a35 100644 --- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_radar_threshold_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml index 7629ffec9b96a..5e2a5395168fb 100644 --- a/sensing/autoware_radar_threshold_filter/package.xml +++ b/sensing/autoware_radar_threshold_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_threshold_filter - 0.38.0 + 0.40.0 autoware_radar_threshold_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst index 6bc3742acd7fc..c11a0fde76832 100644 --- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_radar_tracks_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml index 8b08507326c98..d674e88e19a1a 100644 --- a/sensing/autoware_radar_tracks_noise_filter/package.xml +++ b/sensing/autoware_radar_tracks_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_noise_filter - 0.38.0 + 0.40.0 autoware_radar_tracks_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp b/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp index ea2dfc28b5a4c..e8551ae922f19 100644 --- a/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp +++ b/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp @@ -18,6 +18,8 @@ #include +#include + std::shared_ptr get_node( float velocity_y_threshold) { diff --git a/sensing/vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst similarity index 64% rename from sensing/vehicle_velocity_converter/CHANGELOG.rst rename to sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst index b2488806af1ba..004b045a12494 100644 --- a/sensing/vehicle_velocity_converter/CHANGELOG.rst +++ b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package vehicle_velocity_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 `_) + * add autoware prefix + * fix conflict + --------- + Co-authored-by: Yamato Ando +* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/vehicle_velocity_converter/CMakeLists.txt b/sensing/autoware_vehicle_velocity_converter/CMakeLists.txt similarity index 75% rename from sensing/vehicle_velocity_converter/CMakeLists.txt rename to sensing/autoware_vehicle_velocity_converter/CMakeLists.txt index bb50fbff90c4b..9ff990b928f91 100644 --- a/sensing/vehicle_velocity_converter/CMakeLists.txt +++ b/sensing/autoware_vehicle_velocity_converter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(vehicle_velocity_converter) +project(autoware_vehicle_velocity_converter) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "VehicleVelocityConverter" + PLUGIN "autoware::vehicle_velocity_converter::VehicleVelocityConverter" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) diff --git a/sensing/vehicle_velocity_converter/README.md b/sensing/autoware_vehicle_velocity_converter/README.md similarity index 97% rename from sensing/vehicle_velocity_converter/README.md rename to sensing/autoware_vehicle_velocity_converter/README.md index 3c7292f3fcdc4..f398a72ea824d 100644 --- a/sensing/vehicle_velocity_converter/README.md +++ b/sensing/autoware_vehicle_velocity_converter/README.md @@ -1,4 +1,4 @@ -# vehicle_velocity_converter +# autoware_vehicle_velocity_converter ## Purpose diff --git a/sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml b/sensing/autoware_vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml similarity index 100% rename from sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml rename to sensing/autoware_vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml diff --git a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml b/sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml similarity index 60% rename from sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml rename to sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml index 84e1838dc89eb..d8386e3b80820 100644 --- a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml +++ b/sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml similarity index 81% rename from sensing/vehicle_velocity_converter/package.xml rename to sensing/autoware_vehicle_velocity_converter/package.xml index 57400454b9d8e..cc5c555680562 100644 --- a/sensing/vehicle_velocity_converter/package.xml +++ b/sensing/autoware_vehicle_velocity_converter/package.xml @@ -1,9 +1,9 @@ - vehicle_velocity_converter - 0.38.0 - The vehicle_velocity_converter package + autoware_vehicle_velocity_converter + 0.40.0 + The autoware_vehicle_velocity_converter package Ryu Yamamoto Apache License 2.0 diff --git a/sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json b/sensing/autoware_vehicle_velocity_converter/schema/vehicle_velocity_converter.json similarity index 100% rename from sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json rename to sensing/autoware_vehicle_velocity_converter/schema/vehicle_velocity_converter.json diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp similarity index 91% rename from sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp rename to sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp index c382f0f16f6e5..2211fa0cbb03e 100644 --- a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp +++ b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp @@ -12,8 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "vehicle_velocity_converter/vehicle_velocity_converter.hpp" +#include "vehicle_velocity_converter.hpp" +#include + +namespace autoware::vehicle_velocity_converter +{ VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options) : rclcpp::Node("vehicle_velocity_converter", options) { @@ -53,6 +57,7 @@ void VehicleVelocityConverter::callback_velocity_report( twist_with_covariance_pub_->publish(twist_with_covariance_msg); } +} // namespace autoware::vehicle_velocity_converter #include -RCLCPP_COMPONENTS_REGISTER_NODE(VehicleVelocityConverter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::vehicle_velocity_converter::VehicleVelocityConverter) diff --git a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp similarity index 86% rename from sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp rename to sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp index 5f7b1c044d7e3..9d65e34c4457c 100644 --- a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp +++ b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_ -#define VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_ +#ifndef VEHICLE_VELOCITY_CONVERTER_HPP_ +#define VEHICLE_VELOCITY_CONVERTER_HPP_ #include @@ -25,6 +25,8 @@ #include #include +namespace autoware::vehicle_velocity_converter +{ class VehicleVelocityConverter : public rclcpp::Node { public: @@ -43,5 +45,6 @@ class VehicleVelocityConverter : public rclcpp::Node double stddev_wz_; double speed_scale_factor_; }; +} // namespace autoware::vehicle_velocity_converter -#endif // VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_ +#endif // VEHICLE_VELOCITY_CONVERTER_HPP_ diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst index 4b0c42f440fa2..e9e42a6e4e629 100644 --- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_livox_tag_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index 43a4de255d9da..61555e186d1e1 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -2,7 +2,7 @@ autoware_livox_tag_filter - 0.38.0 + 0.40.0 The autoware_livox_tag_filter package Ryohsuke Mitsudome Kenzo Lobos-Tsunekawa diff --git a/setup.cfg b/setup.cfg index 5214751c7ba6b..4d7d5e5b959d9 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + [flake8] # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst index dee9f80052a1d..d71cf66049c9d 100644 --- a/simulator/autoware_carla_interface/CHANGELOG.rst +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_carla_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (`#9561 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Jesus Armando Anaya, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/autoware_carla_interface/README.md b/simulator/autoware_carla_interface/README.md index a44cb4708b5c3..c98d39bb4f121 100644 --- a/simulator/autoware_carla_interface/README.md +++ b/simulator/autoware_carla_interface/README.md @@ -24,7 +24,7 @@ This ros package enables communication between Autoware and CARLA for autonomous 1. Download maps (y-axis inverted version) to arbitrary location 2. Change names and create the map folder (example: Town01) inside `autoware_map`. (`point_cloud/Town01.pcd` -> `autoware_map/Town01/pointcloud_map.pcd`, `vector_maps/lanelet2/Town01.osm`-> `autoware_map/Town01/lanelet2_map.osm`) -3. Create `map_projector_info.yaml` on the folder and add `projector_type: local` on the first line. +3. Create `map_projector_info.yaml` on the folder and add `projector_type: Local` on the first line. ### Build @@ -136,14 +136,14 @@ The maps provided by the Carla Simulator ([Carla Lanelet2 Maps](https://bitbucke - Options to Modify the Map - A. Create a New Map from Scratch - - Use the [Tier4 Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/) to create a new map. + - Use the [TIER IV Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/) to create a new map. - B. Modify the Existing Carla Lanelet2 Maps - Adjust the longitude and latitude of the [Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/) to align with the PCD (origin). - Use this [tool](https://github.com/mraditya01/offset_lanelet2/tree/main) to modify the coordinates. - - Snap Lanelet with PCD and add the traffic lights using the [Tier4 Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/). + - Snap Lanelet with PCD and add the traffic lights using the [TIER IV Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/). -- When using the Tier4 Vector Map Builder, you must convert the PCD format from `binary_compressed` to `ascii`. You can use `pcl_tools` for this conversion. +- When using the TIER IV Vector Map Builder, you must convert the PCD format from `binary_compressed` to `ascii`. You can use `pcl_tools` for this conversion. - For reference, an example of Town01 with added traffic lights at one intersection can be downloaded [here](https://drive.google.com/drive/folders/1QFU0p3C8NW71sT5wwdnCKXoZFQJzXfTG?usp=sharing). ## Tips diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml index d71f4d0d85924..1ea183cc86eb5 100644 --- a/simulator/autoware_carla_interface/package.xml +++ b/simulator/autoware_carla_interface/package.xml @@ -1,7 +1,7 @@ autoware_carla_interface - 0.38.0 + 0.40.0 The carla autoware bridge package Muhammad Raditya GIOVANNI Maxime CLEMENT diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 346f1838670ab..4f06766582f6a 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -1,20 +1,21 @@ from glob import glob import os +from setuptools import find_packages from setuptools import setup package_name = "autoware_carla_interface" setup( name=package_name, - version="0.38.0", - packages=[package_name], + version="0.40.0", + packages=find_packages(where="src"), data_files=[ - ("share/" + package_name, glob("config/*")), - ("share/" + package_name, glob("calibration_maps/*.csv")), - ("share/" + package_name, ["package.xml"]), - (os.path.join("share", package_name), glob("launch/autoware_carla_interface.launch.xml")), - ("share/ament_index/resource_index/packages", ["resource/autoware_carla_interface"]), + ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), + (os.path.join("share", package_name), ["package.xml"]), + (os.path.join("share", package_name), glob("config/*")), + (os.path.join("share", package_name), glob("calibration_maps/*.csv")), + (os.path.join("share", package_name), glob("launch/*.launch.xml")), ], install_requires=["setuptools"], zip_safe=True, diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst index 102616f3409d9..50b2396ae0311 100644 --- a/simulator/dummy_perception_publisher/CHANGELOG.rst +++ b/simulator/dummy_perception_publisher/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package dummy_perception_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* fix(dummy_perception_publisher): fix clang-diagnostic-unused-private-field (`#9447 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp index 4d50e547fc759..cf46ecddf516f 100644 --- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp +++ b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp @@ -124,7 +124,6 @@ class DummyPerceptionPublisherNode : public rclcpp::Node double detection_successful_rate_; bool enable_ray_tracing_; bool use_object_recognition_; - bool use_real_param_; bool use_base_link_z_; bool publish_ground_truth_objects_; std::unique_ptr pointcloud_creator_; diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index 09c4cc63de67b..4f78acd6c07f2 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -2,7 +2,7 @@ dummy_perception_publisher - 0.38.0 + 0.40.0 The dummy_perception_publisher package Yukihiro Saito Apache License 2.0 diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp index dba230f23f108..d72b16d303cec 100644 --- a/simulator/dummy_perception_publisher/src/node.cpp +++ b/simulator/dummy_perception_publisher/src/node.cpp @@ -20,6 +20,8 @@ #include #include #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp index 05354fa0a9663..977336f63eee3 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp @@ -24,6 +24,7 @@ #include #include #include +#include namespace { diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp index e20c19da93af0..01bef1851b25e 100644 --- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp +++ b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp @@ -16,6 +16,7 @@ #include +#include #include #include diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst index f62dd6c5cbc69..6116bafaa2088 100644 --- a/simulator/fault_injection/CHANGELOG.rst +++ b/simulator/fault_injection/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package fault_injection ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp b/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp index 948c2b45f6615..0a71c1681d1d3 100644 --- a/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp +++ b/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp @@ -51,6 +51,7 @@ #include +#include #include #include #include diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 7e432357139d4..feedcf3333f7f 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -2,7 +2,7 @@ fault_injection - 0.38.0 + 0.40.0 fault_injection Keisuke Shima Apache License 2.0 diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst index 183535778ffec..ed271370a6840 100644 --- a/simulator/learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package learning_based_vehicle_model ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* fix(learning_based_vehicle_model): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9446 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp index d4662036709d5..1cbad103278fb 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp +++ b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp @@ -20,6 +20,8 @@ class SubModelInterface { public: + virtual ~SubModelInterface() = default; + /** * @brief set time step of the model * @param [in] dt time step diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml index c09d152c432cb..317be3d0990ca 100644 --- a/simulator/learning_based_vehicle_model/package.xml +++ b/simulator/learning_based_vehicle_model/package.xml @@ -2,7 +2,7 @@ learning_based_vehicle_model - 0.38.0 + 0.40.0 learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy diff --git a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp index 4dd3b321312d0..d2fef15aa4e88 100644 --- a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp +++ b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp @@ -14,6 +14,10 @@ #include "learning_based_vehicle_model/interconnected_model.hpp" +#include +#include +#include + void InterconnectedModel::mapInputs(std::vector in_names) { // index in "map_in_to_sig_vec" is index in "in_names" and value in "map_in_to_sig_vec" is index diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp index c7944116d1758..b300f3837b18a 100644 --- a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp +++ b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp @@ -14,6 +14,8 @@ #include "learning_based_vehicle_model/model_connections_helpers.hpp" +#include + std::vector fillVectorUsingMap( std::vector vector1, std::vector vector2, const std::vector & map, bool inverse) diff --git a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp index 9c3cb9aa06150..10581179baf4a 100644 --- a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp +++ b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace py = pybind11; diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst index 76c12ecf37f41..ac6e093ea55e7 100644 --- a/simulator/simple_planning_simulator/CHANGELOG.rst +++ b/simulator/simple_planning_simulator/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package simple_planning_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* fix(simple_planning_simulator): fix clang-diagnostic-delete-non-abstract-non-virtual-dtor (`#9448 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(simple_planning_simulator): add mechanical actuaion sim model (`#9300 `_) + * feat(simple_planning_simulator): add mechanical actuaion sim model + update docs + * update from suggestions + * calc internal state using RK4 results + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index a81f9e2147bab..fdc782182f9a5 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -2,7 +2,7 @@ simple_planning_simulator - 0.38.0 + 0.40.0 simple_planning_simulator as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 685708844d32d..d61654c32af02 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -35,9 +35,11 @@ #include #include #include +#include #include #include #include +#include using namespace std::literals::chrono_literals; diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp index b410f089725a2..fa1f7978a798c 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp @@ -15,8 +15,10 @@ #include "simple_planning_simulator/utils/csv_loader.hpp" #include +#include #include #include +#include #include CSVLoader::CSVLoader(const std::string & csv_path) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp index 469c30dc4f0cf..bfcf571d8c09b 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -17,6 +17,8 @@ #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +#include +#include bool ActuationMap::readActuationMapFromCSV(const std::string & csv_path, const bool validation) { diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp index b987f74db0436..ffef5ab7b236c 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp @@ -17,6 +17,7 @@ #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +#include SimModelDelaySteerMapAccGeared::SimModelDelaySteerMapAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp index fba34e04ade7c..4ddcc0e498b70 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp @@ -17,6 +17,9 @@ #include "learning_based_vehicle_model/interconnected_model.hpp" #include +#include +#include +#include SimModelLearnedSteerVel::SimModelLearnedSteerVel( double dt, std::vector model_python_paths, diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index 6f2590417e574..0baa3302f86c7 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -19,6 +19,11 @@ #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include "tf2_geometry_msgs/tf2_geometry_msgs.h" #else diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst index df41afe78a70f..1157abff775ab 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package tier4_dummy_object_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index c3d8f78670502..b73d3a1cc15c0 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_dummy_object_rviz_plugin - 0.38.0 + 0.40.0 The tier4_dummy_object_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp index 83852d0c85011..1daff9459f447 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp +++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp @@ -55,6 +55,7 @@ #include #include #include +#include namespace rviz_plugins { diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst index d825a300763f4..3def98ed36995 100644 --- a/simulator/vehicle_door_simulator/CHANGELOG.rst +++ b/simulator/vehicle_door_simulator/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package vehicle_door_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/vehicle_door_simulator/package.xml b/simulator/vehicle_door_simulator/package.xml index b500940602ce2..ca9d7c98e691a 100644 --- a/simulator/vehicle_door_simulator/package.xml +++ b/simulator/vehicle_door_simulator/package.xml @@ -2,7 +2,7 @@ vehicle_door_simulator - 0.38.0 + 0.40.0 The vehicle_door_simulator package Takagi, Isamu Apache License 2.0 diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst index 30c97e6f41adc..339f30f9f9f80 100644 --- a/system/autoware_component_monitor/CHANGELOG.rst +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_component_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot] + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml index 92f2fa51f704e..27432bc1fc0d6 100644 --- a/system/autoware_component_monitor/package.xml +++ b/system/autoware_component_monitor/package.xml @@ -2,7 +2,7 @@ autoware_component_monitor - 0.38.0 + 0.40.0 A ROS 2 package to monitor system usage of component containers. Mehmet Emin Başoğlu Barış Zeren diff --git a/system/autoware_component_monitor/src/component_monitor_node.cpp b/system/autoware_component_monitor/src/component_monitor_node.cpp index 3c5d6b6667725..ab234f7fd66f2 100644 --- a/system/autoware_component_monitor/src/component_monitor_node.cpp +++ b/system/autoware_component_monitor/src/component_monitor_node.cpp @@ -147,6 +147,7 @@ std::uint64_t ComponentMonitor::parse_memory_res(const std::string & mem_res) { // example 1: 12.3g // example 2: 123 (without suffix, just bytes) + // NOLINTNEXTLINE(readability/casting) static const std::unordered_map> unit_map{ {'k', unit_conversions::kib_to_bytes}, {'m', unit_conversions::mib_to_bytes}, {'g', unit_conversions::gib_to_bytes}, {'t', unit_conversions::tib_to_bytes}, diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst index 295b95531177f..438ee15f16f61 100644 --- a/system/autoware_default_adapi/CHANGELOG.rst +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -2,6 +2,80 @@ Changelog for package autoware_default_adapi ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(bpp): add velocity interface (`#9344 `_) + * feat(bpp): add velocity interface + * fix(adapi): subscribe additional velocity factors + --------- +* fix(run_out): output velocity factor (`#9319 `_) + * fix(run_out): output velocity factor + * fix(adapi): subscribe run out velocity factor + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Kyoichi Sugahara, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index f664f72234f9f..a24d0c8a30b62 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -2,7 +2,7 @@ autoware_default_adapi - 0.38.0 + 0.40.0 The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index e764af4ca816a..3e858e7763baf 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -14,6 +14,7 @@ #include "perception.hpp" +#include #include namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 5620062ede278..fc35efff523c2 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::default_adapi { diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index 672a5db25e31c..39bf68af5f415 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -2,6 +2,98 @@ Changelog for package autoware_processing_time_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_processing_time_checker): fix typo (`#9504 `_) +* feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (`#9479 `_) + * add output_metrics option. + * move param set from config to launch file. + * fix bug. + --------- +* feat(processing_time_checker): update processing time list (`#9350 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 16b225f3ef425..4a18857663cc1 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -2,7 +2,7 @@ autoware_processing_time_checker - 0.38.0 + 0.40.0 A package to find out nodes with common names Takayuki Murooka Kosuke Takeuchi diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst index ca70113c03740..25b55a9bdcc6f 100644 --- a/system/bluetooth_monitor/CHANGELOG.rst +++ b/system/bluetooth_monitor/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package bluetooth_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml index 4f6b9f38f7cb3..f43db39e987b7 100644 --- a/system/bluetooth_monitor/package.xml +++ b/system/bluetooth_monitor/package.xml @@ -2,7 +2,7 @@ bluetooth_monitor - 0.38.0 + 0.40.0 Bluetooth alive monitoring Fumihito Ito Apache License 2.0 diff --git a/system/bluetooth_monitor/service/l2ping_service.cpp b/system/bluetooth_monitor/service/l2ping_service.cpp index f20c763d643ce..827a7e3060acc 100644 --- a/system/bluetooth_monitor/service/l2ping_service.cpp +++ b/system/bluetooth_monitor/service/l2ping_service.cpp @@ -25,6 +25,7 @@ #include #include #include +#include #define FMT_HEADER_ONLY #include diff --git a/system/bluetooth_monitor/service/main.cpp b/system/bluetooth_monitor/service/main.cpp index a3ccb971a5eb7..d3aef2c0696dd 100644 --- a/system/bluetooth_monitor/service/main.cpp +++ b/system/bluetooth_monitor/service/main.cpp @@ -20,6 +20,8 @@ #include #include +#include + /** * @brief print usage */ diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst index 751b67a25a6e4..40843314ddf4a 100644 --- a/system/component_state_monitor/CHANGELOG.rst +++ b/system/component_state_monitor/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package component_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml index 9e4d77878941a..b92dd4af9517f 100644 --- a/system/component_state_monitor/package.xml +++ b/system/component_state_monitor/package.xml @@ -2,7 +2,7 @@ component_state_monitor - 0.38.0 + 0.40.0 The component_state_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/component_state_monitor/src/main.cpp b/system/component_state_monitor/src/main.cpp index 2a05ef1a38911..c87963b1b21c0 100644 --- a/system/component_state_monitor/src/main.cpp +++ b/system/component_state_monitor/src/main.cpp @@ -14,6 +14,8 @@ #include "main.hpp" +#include +#include #include namespace component_state_monitor diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst index 4c4f7943578bb..b0d8f9b49cd59 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst @@ -2,6 +2,66 @@ Changelog for package ad_api_adaptors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index f6210809122de..4fe6390df77e0 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -2,7 +2,7 @@ ad_api_adaptors - 0.38.0 + 0.40.0 The ad_api_adaptors package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst index bea6efd9c2fe3..d44fe830e75db 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package ad_api_visualizers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/default_ad_api_helpers/ad_api_visualizers/package.xml index ab7d2ec4a5799..2392cfaaface1 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml +++ b/system/default_ad_api_helpers/ad_api_visualizers/package.xml @@ -2,7 +2,7 @@ ad_api_visualizers - 0.38.0 + 0.40.0 The ad_api_visualizers package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/default_ad_api_helpers/ad_api_visualizers/setup.py index fe2fdd46463e3..ee4cf253b5288 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py +++ b/system/default_ad_api_helpers/ad_api_visualizers/setup.py @@ -11,7 +11,7 @@ setup( name=package_name, - version="0.38.0", + version="0.40.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst index 1e08d0eff6194..819a580c87f43 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst @@ -2,6 +2,66 @@ Changelog for package automatic_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index 0f665cfc4f948..13f15d7dc63fd 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -2,7 +2,7 @@ automatic_pose_initializer - 0.38.0 + 0.40.0 The automatic_pose_initializer package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst index 2398f0bb7f37f..51abe33dcfbdf 100644 --- a/system/diagnostic_graph_aggregator/CHANGELOG.rst +++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package diagnostic_graph_aggregator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml index bee03ba087e83..ae9266a3bf302 100644 --- a/system/diagnostic_graph_aggregator/package.xml +++ b/system/diagnostic_graph_aggregator/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_aggregator - 0.38.0 + 0.40.0 The diagnostic_graph_aggregator package Takagi, Isamu Apache License 2.0 diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp index b91b777831368..e622d089109f4 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp @@ -23,9 +23,11 @@ #include #include #include +#include #include #include #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp b/system/diagnostic_graph_aggregator/src/common/graph/data.cpp index 2a4aef7e39c1f..e1d053e6d259c 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/data.cpp @@ -14,6 +14,8 @@ #include "data.hpp" +#include + namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/common/graph/error.cpp b/system/diagnostic_graph_aggregator/src/common/graph/error.cpp index e78a444c5ab7f..7a4336e62d8a3 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/error.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/error.cpp @@ -14,6 +14,8 @@ #include "error.hpp" +#include + namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp b/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp index 0a7d78a5ce982..7977209b4905c 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp @@ -19,6 +19,7 @@ #include "loader.hpp" #include "units.hpp" +#include #include namespace diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp b/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp index e4d2e470a0d32..5edef61340fe8 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp @@ -20,7 +20,11 @@ #include "types.hpp" #include "units.hpp" +#include +#include +#include #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp b/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp index 9f7eb34bf3454..68c0082908430 100644 --- a/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp +++ b/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp @@ -16,6 +16,7 @@ #include "graph/units.hpp" #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/tool/tree.cpp b/system/diagnostic_graph_aggregator/src/tool/tree.cpp index 1e6fe93b18a80..f367ec2113808 100644 --- a/system/diagnostic_graph_aggregator/src/tool/tree.cpp +++ b/system/diagnostic_graph_aggregator/src/tool/tree.cpp @@ -16,6 +16,7 @@ #include "graph/units.hpp" #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/test/src/test2.cpp b/system/diagnostic_graph_aggregator/test/src/test2.cpp index b010994f5a1ca..4a0199a89f37e 100644 --- a/system/diagnostic_graph_aggregator/test/src/test2.cpp +++ b/system/diagnostic_graph_aggregator/test/src/test2.cpp @@ -22,6 +22,9 @@ #include +#include +#include + using namespace diagnostic_graph_aggregator; // NOLINT(build/namespaces) using diagnostic_msgs::msg::DiagnosticArray; diff --git a/system/diagnostic_graph_aggregator/test/src/utils.cpp b/system/diagnostic_graph_aggregator/test/src/utils.cpp index c64812afa649a..f92a414e2a678 100644 --- a/system/diagnostic_graph_aggregator/test/src/utils.cpp +++ b/system/diagnostic_graph_aggregator/test/src/utils.cpp @@ -14,6 +14,8 @@ #include "utils.hpp" +#include + std::filesystem::path resource(const std::string & path) { return std::filesystem::path(TEST_RESOURCE_PATH) / path; diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst index 8d1a7606444d3..857671f77fd94 100644 --- a/system/diagnostic_graph_utils/CHANGELOG.rst +++ b/system/diagnostic_graph_utils/CHANGELOG.rst @@ -2,6 +2,60 @@ Changelog for package diagnostic_graph_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(diagnostic_graph_utils): publish error graph instead of the terminal log (`#9421 `_) + * feat(diagnostic_graph_utils): publish error graph instead of the terminal log + * update + * fix + * Update system/diagnostic_graph_utils/src/node/logging.cpp + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * error_graph -> error_graph_text + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* fix(diagnostic_graph_utils): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9431 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived +* Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/diagnostic_graph_utils/launch/logging.launch.xml b/system/diagnostic_graph_utils/launch/logging.launch.xml index 12636574eb8be..f14a045919599 100644 --- a/system/diagnostic_graph_utils/launch/logging.launch.xml +++ b/system/diagnostic_graph_utils/launch/logging.launch.xml @@ -6,5 +6,6 @@ + diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index 2b393b4191581..03cf1fa369774 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_utils - 0.38.0 + 0.40.0 The diagnostic_graph_utils package Takagi, Isamu Apache License 2.0 @@ -13,6 +13,7 @@ diagnostic_msgs rclcpp rclcpp_components + tier4_debug_msgs tier4_system_msgs ament_lint_auto diff --git a/system/diagnostic_graph_utils/src/lib/graph.cpp b/system/diagnostic_graph_utils/src/lib/graph.cpp index 423e1b40be12e..007b42547bee1 100644 --- a/system/diagnostic_graph_utils/src/lib/graph.cpp +++ b/system/diagnostic_graph_utils/src/lib/graph.cpp @@ -14,6 +14,8 @@ #include "diagnostic_graph_utils/graph.hpp" +#include + namespace diagnostic_graph_utils { diff --git a/system/diagnostic_graph_utils/src/lib/subscription.cpp b/system/diagnostic_graph_utils/src/lib/subscription.cpp index 655544c2e1f28..c10481ef8f16e 100644 --- a/system/diagnostic_graph_utils/src/lib/subscription.cpp +++ b/system/diagnostic_graph_utils/src/lib/subscription.cpp @@ -14,6 +14,8 @@ #include "diagnostic_graph_utils/subscription.hpp" +#include + namespace diagnostic_graph_utils { diff --git a/system/diagnostic_graph_utils/src/node/dump.cpp b/system/diagnostic_graph_utils/src/node/dump.cpp index 8456a92cbaa9b..42c66224b2c37 100644 --- a/system/diagnostic_graph_utils/src/node/dump.cpp +++ b/system/diagnostic_graph_utils/src/node/dump.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include namespace diagnostic_graph_utils diff --git a/system/diagnostic_graph_utils/src/node/logging.cpp b/system/diagnostic_graph_utils/src/node/logging.cpp index 009af51e949cd..5d360a00aee82 100644 --- a/system/diagnostic_graph_utils/src/node/logging.cpp +++ b/system/diagnostic_graph_utils/src/node/logging.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include namespace diagnostic_graph_utils @@ -33,8 +34,13 @@ LoggingNode::LoggingNode(const rclcpp::NodeOptions & options) : Node("logging", sub_graph_.register_create_callback(std::bind(&LoggingNode::on_create, this, _1)); sub_graph_.subscribe(*this, 1); + pub_error_graph_text_ = create_publisher( + "~/debug/error_graph_text", rclcpp::QoS(1)); + const auto period = rclcpp::Rate(declare_parameter("show_rate")).period(); timer_ = rclcpp::create_timer(this, get_clock(), period, [this]() { on_timer(); }); + + enable_terminal_log_ = declare_parameter("enable_terminal_log"); } void LoggingNode::on_create(DiagGraph::ConstSharedPtr graph) @@ -52,12 +58,24 @@ void LoggingNode::on_create(DiagGraph::ConstSharedPtr graph) void LoggingNode::on_timer() { - static const auto message = "The target mode is not available for the following reasons:"; + static const auto prefix_message = "The target mode is not available for the following reasons:"; if (root_unit_ && root_unit_->level() != DiagUnit::DiagnosticStatus::OK) { dump_text_.str(""); dump_text_.clear(std::stringstream::goodbit); - dump_unit(root_unit_, 0, " "); - RCLCPP_WARN_STREAM(get_logger(), message << std::endl << dump_text_.str()); + dump_unit(root_unit_, 0, ""); + + if (enable_terminal_log_) { + RCLCPP_WARN_STREAM(get_logger(), prefix_message << std::endl << dump_text_.str()); + } + + tier4_debug_msgs::msg::StringStamped message; + message.stamp = now(); + message.data = dump_text_.str(); + pub_error_graph_text_->publish(message); + } else { + tier4_debug_msgs::msg::StringStamped message; + message.stamp = now(); + pub_error_graph_text_->publish(message); } } @@ -85,7 +103,7 @@ void LoggingNode::dump_unit(DiagUnit * unit, int depth, const std::string & inde dump_text_ << indent << "- " + path << " " << text_level(unit->level()) << std::endl; for (const auto & child : unit->children()) { - dump_unit(child.unit, depth + 1, indent + " "); + dump_unit(child.unit, depth + 1, indent + " "); } } diff --git a/system/diagnostic_graph_utils/src/node/logging.hpp b/system/diagnostic_graph_utils/src/node/logging.hpp index b2d305c81ca99..17d33499a1513 100644 --- a/system/diagnostic_graph_utils/src/node/logging.hpp +++ b/system/diagnostic_graph_utils/src/node/logging.hpp @@ -19,6 +19,8 @@ #include +#include "tier4_debug_msgs/msg/string_stamped.hpp" + #include #include @@ -35,12 +37,14 @@ class LoggingNode : public rclcpp::Node void on_timer(); void dump_unit(DiagUnit * unit, int depth, const std::string & indent); DiagGraphSubscription sub_graph_; + rclcpp::Publisher::SharedPtr pub_error_graph_text_; rclcpp::TimerBase::SharedPtr timer_; DiagUnit * root_unit_; int max_depth_; std::string root_path_; std::ostringstream dump_text_; + bool enable_terminal_log_; }; } // namespace diagnostic_graph_utils diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst index 1fef1964efc56..4652837056220 100644 --- a/system/dummy_diag_publisher/CHANGELOG.rst +++ b/system/dummy_diag_publisher/CHANGELOG.rst @@ -2,6 +2,64 @@ Changelog for package dummy_diag_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta +* Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index 6029314232100..56faf31413e77 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -2,7 +2,7 @@ dummy_diag_publisher - 0.38.0 + 0.40.0 The dummy_diag_publisher ROS 2 package Fumihito Ito TetsuKawa diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp index 51a0846b45179..6bc1378507a37 100644 --- a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp +++ b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp @@ -14,6 +14,11 @@ #include "dummy_diag_publisher/dummy_diag_publisher_core.hpp" +#include +#include +#include +#include + #define FMT_HEADER_ONLY #include diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst index 25c3bf5d0f6a3..50ecdd8d7fa96 100644 --- a/system/dummy_infrastructure/CHANGELOG.rst +++ b/system/dummy_infrastructure/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package dummy_infrastructure ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index 431845825f3d5..49c1b00757094 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -2,7 +2,7 @@ dummy_infrastructure - 0.38.0 + 0.40.0 dummy_infrastructure Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst index 406406b49daeb..605012c898598 100644 --- a/system/duplicated_node_checker/CHANGELOG.rst +++ b/system/duplicated_node_checker/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package duplicated_node_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(duplicated_node_checker): show the node name on the terminal (`#9609 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml index 5b699d014b5f0..ee2f938cfb442 100644 --- a/system/duplicated_node_checker/package.xml +++ b/system/duplicated_node_checker/package.xml @@ -2,7 +2,7 @@ duplicated_node_checker - 0.38.0 + 0.40.0 A package to find out nodes with common names Shumpei Wakabayashi yliuhb diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp index 5c698a0a01860..40ced8f886005 100644 --- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp +++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp @@ -18,6 +18,7 @@ #include #include +#include #include #include @@ -66,6 +67,8 @@ void DuplicatedNodeChecker::produceDiagnostics(diagnostic_updater::DiagnosticSta } for (auto name : identical_names) { stat.add("Duplicated Node Name", name); + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 5000, "%s node is duplicated.", name.c_str()); } } else { msg = "OK"; diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst index c0f54a85f3b27..a0c8e0ae193d1 100644 --- a/system/hazard_status_converter/CHANGELOG.rst +++ b/system/hazard_status_converter/CHANGELOG.rst @@ -2,6 +2,53 @@ Changelog for package hazard_status_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(hazard_status_converter): hazard status converter subscribe emergency holding (`#9287 `_) + * feat: add subscriber for emergency_holding + * modify: fix value name + * style(pre-commit): autofix + * feat: add const to is_emergency_holding + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, TetsuKawa, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index 7d154abb7b26c..80cc53c08e16d 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -2,7 +2,7 @@ hazard_status_converter - 0.38.0 + 0.40.0 The hazard_status_converter package Takagi, Isamu Apache License 2.0 diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp index d92af2186f415..52cfef93aa522 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/hazard_status_converter/src/converter.cpp @@ -14,6 +14,7 @@ #include "converter.hpp" +#include #include #include diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst index 1da165fc4b710..cf423a3d7b158 100644 --- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package mrm_comfortable_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop (`#9353 `_) + * add updateParam for mrm comfortable stop + * remove abs since it is not necessary + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index 92a9569bf329a..58ff309d825f1 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_comfortable_stop_operator - 0.38.0 + 0.40.0 The MRM comfortable stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp index 6b18555053582..fc703ab16e259 100644 --- a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +++ b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp @@ -16,6 +16,8 @@ #include +#include + namespace mrm_comfortable_stop_operator { diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst index e8a4611e43299..f6dc5499bcb74 100644 --- a/system/mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package mrm_emergency_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml index 402a94f305cfe..7614373672f31 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/mrm_emergency_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_emergency_stop_operator - 0.38.0 + 0.40.0 The MRM emergency stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp index 5c1ca5e04de0e..9c941888a3545 100644 --- a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp +++ b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp @@ -16,6 +16,8 @@ #include +#include + namespace mrm_emergency_stop_operator { diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst index 92b7cb8a59351..d9e6990373f6f 100644 --- a/system/mrm_handler/CHANGELOG.rst +++ b/system/mrm_handler/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package mrm_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mrm_handler): mrm handler publish emergecy holding (`#9285 `_) + * feat: add publisher for emrgency holding + * modify: fix msg element + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, TetsuKawa, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml index 93959a6931794..d330680e87049 100644 --- a/system/mrm_handler/package.xml +++ b/system/mrm_handler/package.xml @@ -2,7 +2,7 @@ mrm_handler - 0.38.0 + 0.40.0 The mrm_handler ROS 2 package Makoto Kurihara Ryuta Kambe diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst index f25eab5c7fed4..9a5721b05d7ee 100644 --- a/system/system_diagnostic_monitor/CHANGELOG.rst +++ b/system/system_diagnostic_monitor/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package system_diagnostic_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/system_diagnostic_monitor/package.xml b/system/system_diagnostic_monitor/package.xml index 54031a2e82daa..095d7cf040517 100644 --- a/system/system_diagnostic_monitor/package.xml +++ b/system/system_diagnostic_monitor/package.xml @@ -2,7 +2,7 @@ system_diagnostic_monitor - 0.38.0 + 0.40.0 The system_diagnostic_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst index b5c97c09e28df..0ce1977dfdfa8 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/system_monitor/CHANGELOG.rst @@ -2,6 +2,65 @@ Changelog for package system_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- +* feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], iwatake + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- +* feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo, iwatake + 0.38.0 (2024-11-08) ------------------- * remove system_monitor/CHANGELOG.rst diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index e1a872812660d..df63dac90551c 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -2,7 +2,7 @@ system_monitor - 0.38.0 + 0.40.0 The system_monitor package Fumihito Ito TetsuKawa diff --git a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp index 589f9a3970098..740f841382f47 100644 --- a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp +++ b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp @@ -330,10 +330,10 @@ int get_nvme_identify(int fd, HddInfo * info) char data[4096]{}; // Fixed size for Identify command // The Identify command returns a data buffer that describes information about the NVM subsystem - cmd.opcode = 0x06; // Identify - cmd.addr = (uint64_t)data; // memory address of data - cmd.data_len = sizeof(data); // length of data - cmd.cdw10 = 0x01; // Identify Controller data structure + cmd.opcode = 0x06; // Identify + cmd.addr = reinterpret_cast(data); // memory address of data + cmd.data_len = sizeof(data); // length of data + cmd.cdw10 = 0x01; // Identify Controller data structure // send Admin Command to device int ret = ioctl(fd, NVME_IOCTL_ADMIN_CMD, &cmd); @@ -368,13 +368,13 @@ int get_nvme_smart_data(int fd, HddInfo * info) unsigned char data[144]{}; // 36 Dword (get byte 0 to 143) // The Get Log Page command returns a data buffer containing the log page requested - cmd.opcode = 0x02; // Get Log Page - cmd.nsid = 0xFFFFFFFF; // Global log page - cmd.addr = (uint64_t)data; // memory address of data - cmd.data_len = sizeof(data); // length of data - cmd.cdw10 = 0x00240002; // Bit 27:16 Number of Dwords (NUMD) = 024h (36 Dword) - // - Minimum necessary size to obtain S.M.A.R.T. informations - // Bit 07:00 = 02h (SMART / Health Information) + cmd.opcode = 0x02; // Get Log Page + cmd.nsid = 0xFFFFFFFF; // Global log page + cmd.addr = reinterpret_cast(data); // memory address of data + cmd.data_len = sizeof(data); // length of data + cmd.cdw10 = 0x00240002; // Bit 27:16 Number of Dwords (NUMD) = 024h (36 Dword) + // - Minimum necessary size to obtain S.M.A.R.T. informations + // Bit 07:00 = 02h (SMART / Health Information) // send Admin Command to device int ret = ioctl(fd, NVME_IOCTL_ADMIN_CMD, &cmd); diff --git a/system/system_monitor/reader/msr_reader/msr_reader.cpp b/system/system_monitor/reader/msr_reader/msr_reader.cpp index 59a6edc91ace7..fc7bcab795be0 100644 --- a/system/system_monitor/reader/msr_reader/msr_reader.cpp +++ b/system/system_monitor/reader/msr_reader/msr_reader.cpp @@ -35,6 +35,7 @@ #include #include +#include #include #include #include diff --git a/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp b/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp index 940afdd9e5c35..cc0a8f81b6bff 100644 --- a/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp +++ b/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp @@ -18,7 +18,9 @@ #include #include +#include #include +#include /** * @brief print usage diff --git a/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp b/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp index 927f1b175b46b..fe5df51946fc6 100644 --- a/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp +++ b/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp @@ -26,6 +26,11 @@ #include #include +#include +#include +#include +#include + namespace process = boost::process; namespace traffic_reader_service diff --git a/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp b/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp index 13d7151bb14c7..f824ad49df867 100644 --- a/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp +++ b/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp @@ -30,8 +30,10 @@ #include #include +#include #include #include +#include namespace bp = boost::process; namespace fs = boost::filesystem; diff --git a/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp b/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp index 0000d6ead1c6a..496a782add33e 100644 --- a/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp +++ b/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include diff --git a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp index 50ac4363da609..60e1c401a05f3 100644 --- a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp +++ b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp @@ -32,8 +32,10 @@ #include #include +#include #include #include +#include #include namespace bp = boost::process; diff --git a/system/system_monitor/src/mem_monitor/mem_monitor.cpp b/system/system_monitor/src/mem_monitor/mem_monitor.cpp index 4d141294c3fa5..1caa011e15bed 100644 --- a/system/system_monitor/src/mem_monitor/mem_monitor.cpp +++ b/system/system_monitor/src/mem_monitor/mem_monitor.cpp @@ -26,6 +26,7 @@ #include #include +#include #include namespace bp = boost::process; diff --git a/system/system_monitor/src/net_monitor/net_monitor.cpp b/system/system_monitor/src/net_monitor/net_monitor.cpp index a074663a7ee7c..d99150f0b3037 100644 --- a/system/system_monitor/src/net_monitor/net_monitor.cpp +++ b/system/system_monitor/src/net_monitor/net_monitor.cpp @@ -26,6 +26,11 @@ #include #include +#include +#include +#include +#include + #define FMT_HEADER_ONLY #include #include diff --git a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp b/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp index 4e697fa18ec50..590793cf1f7fe 100644 --- a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp +++ b/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp @@ -29,6 +29,7 @@ #include #include #include +#include namespace bp = boost::process; namespace fs = boost::filesystem; diff --git a/system/system_monitor/src/process_monitor/process_monitor.cpp b/system/system_monitor/src/process_monitor/process_monitor.cpp index 73059d2d162fa..faaf1abf1c9d3 100644 --- a/system/system_monitor/src/process_monitor/process_monitor.cpp +++ b/system/system_monitor/src/process_monitor/process_monitor.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include ProcessMonitor::ProcessMonitor(const rclcpp::NodeOptions & options) diff --git a/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp b/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp index fda75c21535cf..f7771fb9f47d3 100644 --- a/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp +++ b/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp @@ -34,6 +34,7 @@ #include #include #include +#include #include namespace bp = boost::process; diff --git a/system/system_monitor/test/src/process_monitor/top3.cpp b/system/system_monitor/test/src/process_monitor/top3.cpp index 2725ee2676064..3400b608ed9b7 100644 --- a/system/system_monitor/test/src/process_monitor/top3.cpp +++ b/system/system_monitor/test/src/process_monitor/top3.cpp @@ -19,6 +19,8 @@ #include +#include + int main(int argc, char ** argv) { printf("Tasks:"); diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst index 8c636a421375c..1eebcd1bcb1b1 100644 --- a/system/topic_state_monitor/CHANGELOG.rst +++ b/system/topic_state_monitor/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package topic_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index d0521145b9fec..0468db6124666 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -2,7 +2,7 @@ topic_state_monitor - 0.38.0 + 0.40.0 The topic_state_monitor package Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst index ca10466633e36..4cc3be4c7a3f0 100644 --- a/system/velodyne_monitor/CHANGELOG.rst +++ b/system/velodyne_monitor/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package velodyne_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml index c37dac15a48aa..0dc8ae5f00a5d 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/velodyne_monitor/package.xml @@ -2,7 +2,7 @@ velodyne_monitor - 0.38.0 + 0.40.0 The velodyne_monitor package Fumihito Ito Apache License 2.0 diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index 81084ba8724c4..f2f1ac255fc06 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package reaction_analyzer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - tools (`#9574 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index 8ec8f924edc1f..540376e032743 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -2,7 +2,7 @@ reaction_analyzer - 0.38.0 + 0.40.0 Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index e890a5208bf22..02743537d6bb3 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -15,7 +15,9 @@ #include "reaction_analyzer_node.hpp" #include +#include #include +#include namespace reaction_analyzer { diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index a5d1be613ee5a..0e119c3fdcbf7 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -15,8 +15,11 @@ #include "subscriber.hpp" #include +#include #include +#include #include +#include namespace reaction_analyzer::subscriber { diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index f720786d422bc..c78faf7ad656e 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -15,7 +15,11 @@ #include "topic_publisher.hpp" #include +#include #include +#include +#include +#include namespace reaction_analyzer::topic_publisher { diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index 107c1deb2f196..9075cdc4a77dd 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -14,6 +14,12 @@ #include "utils.hpp" +#include +#include +#include +#include +#include + namespace reaction_analyzer { SubscriberMessageType get_subscriber_message_type(const std::string & message_type) diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index 1c025329b3417..cbd3907bd854a 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_accel_brake_map_calibrator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot] + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_accel_brake_map_calibrator/README.md b/vehicle/autoware_accel_brake_map_calibrator/README.md index 024c8059a169e..a85e7de98a3ef 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/README.md +++ b/vehicle/autoware_accel_brake_map_calibrator/README.md @@ -212,10 +212,11 @@ Update by Recursive Least Squares(RLS) method using data close enough to each gr #### Parameters Data selection is determined by the following thresholds. -| Name | Default Value | + +| Name | Default Value | | ----------------------- | ------------- | -| velocity_diff_threshold | 0.556 | -| pedal_diff_threshold | 0.03 | +| velocity_diff_threshold | 0.556 | +| pedal_diff_threshold | 0.03 | #### Update formula diff --git a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index 39d81c26961bb..2a0ad4f987dad 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -47,6 +47,7 @@ #include "tier4_vehicle_msgs/srv/update_accel_brake_map.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include #include #include #include diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index ef8ebb9df5625..de2dcf2d8e440 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -2,7 +2,7 @@ autoware_accel_brake_map_calibrator - 0.38.0 + 0.40.0 The accel_brake_map_calibrator Tomoya Kimura Taiki Tanaka diff --git a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index 3750fdb77b258..9d7de55aff54d 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -19,6 +19,7 @@ #include "rclcpp/logging.hpp" #include +#include #include #include #include diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index 058678773d251..ddbd655a9c34f 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_external_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index 35003f624c704..eb44058775a3f 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_converter - 0.38.0 + 0.40.0 The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 0f7166c71fbff..267836b91f945 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -16,6 +16,7 @@ #include #include +#include #include #include #include diff --git a/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp index a508359af60e8..1fc037592bb08 100644 --- a/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp +++ b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp @@ -24,6 +24,7 @@ #include #include +#include using autoware::external_cmd_converter::ExternalCmdConverterNode; using nav_msgs::msg::Odometry; using tier4_control_msgs::msg::GateMode; diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index 483f8cbd12c60..de088bb8d5a76 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_raw_vehicle_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 41bbff445ba7e..468e039312520 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_raw_vehicle_cmd_converter - 0.38.0 + 0.40.0 The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp index 0a31e2089e4ef..999b52e1a1c81 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp @@ -15,7 +15,9 @@ #include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp" #include +#include #include +#include #include namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp index 362fb53eba67d..e4cdbe60fd4cd 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp @@ -15,6 +15,7 @@ #include "autoware_raw_vehicle_cmd_converter/node.hpp" #include +#include #include #include #include diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp index 6b2bffa7630f9..d41f4facf1aef 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp index 0d716eef3369b..698e1f8562ee7 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp @@ -21,6 +21,7 @@ #include "gtest/gtest.h" #include +#include /* * Throttle data: (vel, throttle -> acc) diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index 9a421dc7a35bf..4e4f9c1a39a66 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_steer_offset_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml index 919858950e69c..ef298696692bd 100644 --- a/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml +++ b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index 561cb85e0d806..715d80504dafe 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -1,7 +1,7 @@ autoware_steer_offset_estimator - 0.38.0 + 0.40.0 The steer_offset_estimator Taiki Tanaka Apache License 2.0 @@ -18,8 +18,8 @@ rclcpp_components std_msgs tier4_debug_msgs + autoware_global_parameter_loader autoware_pose2twist - global_parameter_loader ament_lint_auto autoware_lint_common diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..91b2ce31af3bf --- /dev/null +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,34 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_mission_details_overlay_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) + feat: Add color customization to gear, speed, mission,speedlimit and traffic displays +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* Contributors: Ahmed Ebrahim, Khalil Selyan, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml similarity index 97% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml index 1865376069def..82b4c10194131 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_mission_details_overlay_rviz_plugin - 0.38.0 + 0.40.0 RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp index 68813a5f1140f..7989dd21d8b2e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp @@ -52,6 +52,8 @@ #include +#include + namespace autoware::mission_details_overlay_rviz_plugin { ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp index 13f3fdddfe76b..41ee64f5233a7 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp @@ -23,6 +23,7 @@ #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst similarity index 67% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index 012be9e7cce85..44c9901bda3ec 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package autoware_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix: missing dependency in common components (`#9072 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml similarity index 97% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index 6b0ee4fbd355e..86bab15660d4d 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_overlay_rviz_plugin - 0.38.0 + 0.40.0 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp index 03729d122e614..12e25ee3bb954 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp index d6f061e724369..076b92a415ee0 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp @@ -52,6 +52,8 @@ #include +#include + namespace autoware_overlay_rviz_plugin { ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp index d677be40dead2..faf9c39af672d 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp index 1da64aaf320ca..36b5212c08f75 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp index 28bd2b5c2a52e..d475a8231e595 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp similarity index 99% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp index b42b5d953fcc6..6748f01fe139b 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst similarity index 97% rename from common/autoware_perception_rviz_plugin/CHANGELOG.rst rename to visualization/autoware_perception_rviz_plugin/CHANGELOG.rst index 0f8e5ff1f7fd8..a1b325e441fc0 100644 --- a/common/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package autoware_perception_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_perception_rviz_plugin/CMakeLists.txt b/visualization/autoware_perception_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/autoware_perception_rviz_plugin/CMakeLists.txt rename to visualization/autoware_perception_rviz_plugin/CMakeLists.txt diff --git a/common/autoware_perception_rviz_plugin/README.md b/visualization/autoware_perception_rviz_plugin/README.md similarity index 100% rename from common/autoware_perception_rviz_plugin/README.md rename to visualization/autoware_perception_rviz_plugin/README.md diff --git a/common/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png similarity index 100% rename from common/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png rename to visualization/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png diff --git a/common/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png similarity index 100% rename from common/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png rename to visualization/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png diff --git a/common/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png similarity index 100% rename from common/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png rename to visualization/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png diff --git a/common/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg similarity index 100% rename from common/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg rename to visualization/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg diff --git a/common/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg similarity index 100% rename from common/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg rename to visualization/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg diff --git a/common/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg similarity index 100% rename from common/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg rename to visualization/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp diff --git a/common/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml similarity index 97% rename from common/autoware_perception_rviz_plugin/package.xml rename to visualization/autoware_perception_rviz_plugin/package.xml index 98c24297894b6..b3d2d69a34f35 100644 --- a/common/autoware_perception_rviz_plugin/package.xml +++ b/visualization/autoware_perception_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_perception_rviz_plugin - 0.38.0 + 0.40.0 Contains plugins to visualize object detection outputs Apex.AI, Inc. Taiki Tanaka diff --git a/common/autoware_perception_rviz_plugin/plugins_description.xml b/visualization/autoware_perception_rviz_plugin/plugins_description.xml similarity index 100% rename from common/autoware_perception_rviz_plugin/plugins_description.xml rename to visualization/autoware_perception_rviz_plugin/plugins_description.xml diff --git a/common/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp b/visualization/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp rename to visualization/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp similarity index 99% rename from common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp index d11aba912854d..b95b94248c943 100644 --- a/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp +++ b/visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp @@ -16,6 +16,7 @@ #include #include +#include namespace autoware { diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst similarity index 54% rename from common/bag_time_manager_rviz_plugin/CHANGELOG.rst rename to visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst index a47ad569440b4..df222e8eb584e 100644 --- a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package bag_time_manager_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/bag_time_manager_rviz_plugin/CMakeLists.txt b/visualization/bag_time_manager_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/bag_time_manager_rviz_plugin/CMakeLists.txt rename to visualization/bag_time_manager_rviz_plugin/CMakeLists.txt diff --git a/common/bag_time_manager_rviz_plugin/README.md b/visualization/bag_time_manager_rviz_plugin/README.md similarity index 100% rename from common/bag_time_manager_rviz_plugin/README.md rename to visualization/bag_time_manager_rviz_plugin/README.md diff --git a/common/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png b/visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png rename to visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png diff --git a/common/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png b/visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png rename to visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png diff --git a/common/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png b/visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png rename to visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png diff --git a/common/bag_time_manager_rviz_plugin/images/select_panels.png b/visualization/bag_time_manager_rviz_plugin/images/select_panels.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/images/select_panels.png rename to visualization/bag_time_manager_rviz_plugin/images/select_panels.png diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/visualization/bag_time_manager_rviz_plugin/package.xml similarity index 97% rename from common/bag_time_manager_rviz_plugin/package.xml rename to visualization/bag_time_manager_rviz_plugin/package.xml index e9df21b48535f..365dad286d22c 100644 --- a/common/bag_time_manager_rviz_plugin/package.xml +++ b/visualization/bag_time_manager_rviz_plugin/package.xml @@ -2,7 +2,7 @@ bag_time_manager_rviz_plugin - 0.38.0 + 0.40.0 Rviz plugin to publish and control the ros bag Taiki Tanaka Apache License 2.0 diff --git a/common/bag_time_manager_rviz_plugin/plugins/plugin_description.xml b/visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/bag_time_manager_rviz_plugin/plugins/plugin_description.xml rename to visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp similarity index 99% rename from common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp rename to visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp index ef52977cb7e73..cae9660b51266 100644 --- a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp +++ b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp @@ -21,6 +21,8 @@ #include #include +#include + namespace rviz_plugins { BagTimeManagerPanel::BagTimeManagerPanel(QWidget * parent) : rviz_common::Panel(parent) diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp similarity index 100% rename from common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp rename to visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst similarity index 56% rename from common/tier4_adapi_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst index b151eb7f7e06d..32c8d0a621304 100644 --- a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package tier4_adapi_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_adapi_rviz_plugin/CMakeLists.txt b/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_adapi_rviz_plugin/CMakeLists.txt rename to visualization/tier4_adapi_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_adapi_rviz_plugin/README.md b/visualization/tier4_adapi_rviz_plugin/README.md similarity index 100% rename from common/tier4_adapi_rviz_plugin/README.md rename to visualization/tier4_adapi_rviz_plugin/README.md diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png similarity index 100% rename from common/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png rename to visualization/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png similarity index 100% rename from common/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png rename to visualization/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png similarity index 100% rename from common/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png rename to visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml similarity index 97% rename from common/tier4_adapi_rviz_plugin/package.xml rename to visualization/tier4_adapi_rviz_plugin/package.xml index c31e19919ff22..da1af7b150c70 100644 --- a/common/tier4_adapi_rviz_plugin/package.xml +++ b/visualization/tier4_adapi_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_adapi_rviz_plugin - 0.38.0 + 0.40.0 The autoware adapi rviz plugin package Takagi, Isamu Hiroki OTA diff --git a/common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/door_panel.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/door_panel.cpp rename to visualization/tier4_adapi_rviz_plugin/src/door_panel.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/door_panel.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/door_panel.hpp rename to visualization/tier4_adapi_rviz_plugin/src/door_panel.hpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/route_panel.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_panel.cpp rename to visualization/tier4_adapi_rviz_plugin/src/route_panel.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/route_panel.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_panel.hpp rename to visualization/tier4_adapi_rviz_plugin/src/route_panel.hpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_tool.cpp b/visualization/tier4_adapi_rviz_plugin/src/route_tool.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_tool.cpp rename to visualization/tier4_adapi_rviz_plugin/src/route_tool.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_tool.hpp b/visualization/tier4_adapi_rviz_plugin/src/route_tool.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_tool.hpp rename to visualization/tier4_adapi_rviz_plugin/src/route_tool.hpp diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/state_panel.cpp rename to visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/state_panel.hpp rename to visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst similarity index 53% rename from common/tier4_camera_view_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst index e71a8d02bd47e..99d51e3064524 100644 --- a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package tier4_camera_view_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_camera_view_rviz_plugin/CMakeLists.txt b/visualization/tier4_camera_view_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_camera_view_rviz_plugin/CMakeLists.txt rename to visualization/tier4_camera_view_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_camera_view_rviz_plugin/README.md b/visualization/tier4_camera_view_rviz_plugin/README.md similarity index 100% rename from common/tier4_camera_view_rviz_plugin/README.md rename to visualization/tier4_camera_view_rviz_plugin/README.md diff --git a/common/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png b/visualization/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png similarity index 100% rename from common/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png rename to visualization/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png diff --git a/common/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png b/visualization/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png similarity index 100% rename from common/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png rename to visualization/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml similarity index 97% rename from common/tier4_camera_view_rviz_plugin/package.xml rename to visualization/tier4_camera_view_rviz_plugin/package.xml index 7c85d9f84871a..b25aac8a74570 100644 --- a/common/tier4_camera_view_rviz_plugin/package.xml +++ b/visualization/tier4_camera_view_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_camera_view_rviz_plugin - 0.38.0 + 0.40.0 The autoware camera view rviz plugin package Yuxuan Liu Makoto Yabuta diff --git a/common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst similarity index 72% rename from common/tier4_datetime_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst index b8341184faaf7..155d36c369d77 100644 --- a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package tier4_datetime_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_datetime_rviz_plugin/CMakeLists.txt b/visualization/tier4_datetime_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_datetime_rviz_plugin/CMakeLists.txt rename to visualization/tier4_datetime_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_datetime_rviz_plugin/README.md b/visualization/tier4_datetime_rviz_plugin/README.md similarity index 100% rename from common/tier4_datetime_rviz_plugin/README.md rename to visualization/tier4_datetime_rviz_plugin/README.md diff --git a/common/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png b/visualization/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png similarity index 100% rename from common/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png rename to visualization/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png diff --git a/common/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png b/visualization/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png similarity index 100% rename from common/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png rename to visualization/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png diff --git a/common/tier4_datetime_rviz_plugin/images/select_panels.png b/visualization/tier4_datetime_rviz_plugin/images/select_panels.png similarity index 100% rename from common/tier4_datetime_rviz_plugin/images/select_panels.png rename to visualization/tier4_datetime_rviz_plugin/images/select_panels.png diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml similarity index 97% rename from common/tier4_datetime_rviz_plugin/package.xml rename to visualization/tier4_datetime_rviz_plugin/package.xml index ffe95116f9ea3..80c19ec0957fd 100644 --- a/common/tier4_datetime_rviz_plugin/package.xml +++ b/visualization/tier4_datetime_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_datetime_rviz_plugin - 0.38.0 + 0.40.0 The tier4_datetime_rviz_plugin package Takagi, Isamu Apache License 2.0 diff --git a/common/tier4_datetime_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_datetime_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_datetime_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_datetime_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp b/visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp similarity index 100% rename from common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp rename to visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp diff --git a/common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp b/visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp similarity index 100% rename from common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp rename to visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst similarity index 87% rename from common/tier4_localization_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_localization_rviz_plugin/CHANGELOG.rst index 2a1f10be1ffed..4e9985286862b 100644 --- a/common/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package tier4_localization_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_localization_rviz_plugin/CMakeLists.txt b/visualization/tier4_localization_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_localization_rviz_plugin/CMakeLists.txt rename to visualization/tier4_localization_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_localization_rviz_plugin/README.md b/visualization/tier4_localization_rviz_plugin/README.md similarity index 100% rename from common/tier4_localization_rviz_plugin/README.md rename to visualization/tier4_localization_rviz_plugin/README.md diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png similarity index 100% rename from common/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png rename to visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png similarity index 100% rename from common/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png rename to visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png similarity index 100% rename from common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png rename to visualization/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png diff --git a/common/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png b/visualization/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png rename to visualization/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png diff --git a/common/tier4_localization_rviz_plugin/images/select_add.png b/visualization/tier4_localization_rviz_plugin/images/select_add.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/select_add.png rename to visualization/tier4_localization_rviz_plugin/images/select_add.png diff --git a/common/tier4_localization_rviz_plugin/images/select_localization_plugin.png b/visualization/tier4_localization_rviz_plugin/images/select_localization_plugin.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/select_localization_plugin.png rename to visualization/tier4_localization_rviz_plugin/images/select_localization_plugin.png diff --git a/common/tier4_localization_rviz_plugin/images/select_topic_name.png b/visualization/tier4_localization_rviz_plugin/images/select_topic_name.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/select_topic_name.png rename to visualization/tier4_localization_rviz_plugin/images/select_topic_name.png diff --git a/common/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml similarity index 98% rename from common/tier4_localization_rviz_plugin/package.xml rename to visualization/tier4_localization_rviz_plugin/package.xml index 29f5b995bce2b..e3f200aeb7111 100644 --- a/common/tier4_localization_rviz_plugin/package.xml +++ b/visualization/tier4_localization_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_localization_rviz_plugin - 0.38.0 + 0.40.0 The tier4_localization_rviz_plugin package Takagi, Isamu Takamasa Horibe diff --git a/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_localization_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_localization_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_localization_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp similarity index 99% rename from common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp index d427f63628d69..bcf9d774200e6 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp +++ b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp @@ -22,6 +22,8 @@ #include #include +#include + namespace rviz_plugins { PoseHistory::PoseHistory() : last_stamp_(0, 0, RCL_ROS_TIME) diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp similarity index 99% rename from common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp index 391ebdc0c1c77..a54856122ffc9 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp +++ b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp @@ -22,6 +22,8 @@ #include #include +#include + #define EIGEN_MPL2_ONLY #include #include diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp similarity index 99% rename from common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp rename to visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp index 42f36ed6f4c08..276206075b6eb 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp +++ b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp @@ -27,6 +27,8 @@ #include +#include + namespace rviz_plugins { PoseWithCovarianceHistory::PoseWithCovarianceHistory() : last_stamp_(0, 0, RCL_ROS_TIME) diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp rename to visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst similarity index 93% rename from common/tier4_planning_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_planning_rviz_plugin/CHANGELOG.rst index c31dc946b12d1..8faac0b6ac8e7 100644 --- a/common/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package tier4_planning_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_planning_rviz_plugin/CMakeLists.txt b/visualization/tier4_planning_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_planning_rviz_plugin/CMakeLists.txt rename to visualization/tier4_planning_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_planning_rviz_plugin/README.md b/visualization/tier4_planning_rviz_plugin/README.md similarity index 100% rename from common/tier4_planning_rviz_plugin/README.md rename to visualization/tier4_planning_rviz_plugin/README.md diff --git a/common/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png b/visualization/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png b/visualization/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png b/visualization/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/Path.png b/visualization/tier4_planning_rviz_plugin/icons/classes/Path.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/Path.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/Path.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/Trajectory.png b/visualization/tier4_planning_rviz_plugin/icons/classes/Trajectory.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/Trajectory.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/Trajectory.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png b/visualization/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png diff --git a/common/tier4_planning_rviz_plugin/images/select_add.png b/visualization/tier4_planning_rviz_plugin/images/select_add.png similarity index 100% rename from common/tier4_planning_rviz_plugin/images/select_add.png rename to visualization/tier4_planning_rviz_plugin/images/select_add.png diff --git a/common/tier4_planning_rviz_plugin/images/select_planning_plugin.png b/visualization/tier4_planning_rviz_plugin/images/select_planning_plugin.png similarity index 100% rename from common/tier4_planning_rviz_plugin/images/select_planning_plugin.png rename to visualization/tier4_planning_rviz_plugin/images/select_planning_plugin.png diff --git a/common/tier4_planning_rviz_plugin/images/select_topic_name.png b/visualization/tier4_planning_rviz_plugin/images/select_topic_name.png similarity index 100% rename from common/tier4_planning_rviz_plugin/images/select_topic_name.png rename to visualization/tier4_planning_rviz_plugin/images/select_topic_name.png diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp diff --git a/common/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml similarity index 97% rename from common/tier4_planning_rviz_plugin/package.xml rename to visualization/tier4_planning_rviz_plugin/package.xml index 43641ce361e43..d615878f91354 100644 --- a/common/tier4_planning_rviz_plugin/package.xml +++ b/visualization/tier4_planning_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_rviz_plugin - 0.38.0 + 0.40.0 The tier4_planning_rviz_plugin package Yukihiro Saito Takayuki Murooka diff --git a/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_planning_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_planning_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_planning_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp b/visualization/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp rename to visualization/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp diff --git a/common/tier4_planning_rviz_plugin/src/path/display.cpp b/visualization/tier4_planning_rviz_plugin/src/path/display.cpp similarity index 98% rename from common/tier4_planning_rviz_plugin/src/path/display.cpp rename to visualization/tier4_planning_rviz_plugin/src/path/display.cpp index 342e72d66c5f9..869f0c4d91793 100644 --- a/common/tier4_planning_rviz_plugin/src/path/display.cpp +++ b/visualization/tier4_planning_rviz_plugin/src/path/display.cpp @@ -16,6 +16,10 @@ #include +#include +#include +#include + namespace rviz_plugins { AutowarePathWithLaneIdDisplay::AutowarePathWithLaneIdDisplay() diff --git a/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp b/visualization/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp similarity index 99% rename from common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp rename to visualization/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp index b525608a65625..ddb55a253b1cf 100644 --- a/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp +++ b/visualization/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include + namespace { std::string uuid_to_string(const unique_identifier_msgs::msg::UUID & u) diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp rename to visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp rename to visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp rename to visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp rename to visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst similarity index 91% rename from common/tier4_state_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_state_rviz_plugin/CHANGELOG.rst index 962433de64c70..243d3c28733d7 100644 --- a/common/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package tier4_state_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix: missing dependency in common components (`#9072 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_state_rviz_plugin/CMakeLists.txt b/visualization/tier4_state_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_state_rviz_plugin/CMakeLists.txt rename to visualization/tier4_state_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_state_rviz_plugin/README.md b/visualization/tier4_state_rviz_plugin/README.md similarity index 100% rename from common/tier4_state_rviz_plugin/README.md rename to visualization/tier4_state_rviz_plugin/README.md diff --git a/common/tier4_state_rviz_plugin/icons/assets/active.png b/visualization/tier4_state_rviz_plugin/icons/assets/active.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/active.png rename to visualization/tier4_state_rviz_plugin/icons/assets/active.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/crash.png b/visualization/tier4_state_rviz_plugin/icons/assets/crash.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/crash.png rename to visualization/tier4_state_rviz_plugin/icons/assets/crash.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/danger.png b/visualization/tier4_state_rviz_plugin/icons/assets/danger.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/danger.png rename to visualization/tier4_state_rviz_plugin/icons/assets/danger.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/none.png b/visualization/tier4_state_rviz_plugin/icons/assets/none.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/none.png rename to visualization/tier4_state_rviz_plugin/icons/assets/none.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/pending.png b/visualization/tier4_state_rviz_plugin/icons/assets/pending.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/pending.png rename to visualization/tier4_state_rviz_plugin/icons/assets/pending.png diff --git a/common/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png b/visualization/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png rename to visualization/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png diff --git a/common/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png b/visualization/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png rename to visualization/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png diff --git a/common/tier4_state_rviz_plugin/images/select_auto.png b/visualization/tier4_state_rviz_plugin/images/select_auto.png similarity index 100% rename from common/tier4_state_rviz_plugin/images/select_auto.png rename to visualization/tier4_state_rviz_plugin/images/select_auto.png diff --git a/common/tier4_state_rviz_plugin/images/select_panels.png b/visualization/tier4_state_rviz_plugin/images/select_panels.png similarity index 100% rename from common/tier4_state_rviz_plugin/images/select_panels.png rename to visualization/tier4_state_rviz_plugin/images/select_panels.png diff --git a/common/tier4_state_rviz_plugin/images/select_state_plugin.png b/visualization/tier4_state_rviz_plugin/images/select_state_plugin.png similarity index 100% rename from common/tier4_state_rviz_plugin/images/select_state_plugin.png rename to visualization/tier4_state_rviz_plugin/images/select_state_plugin.png diff --git a/common/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml similarity index 94% rename from common/tier4_state_rviz_plugin/package.xml rename to visualization/tier4_state_rviz_plugin/package.xml index aa7f5fe41c295..f5f5fa8b9c0c1 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/visualization/tier4_state_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_state_rviz_plugin - 0.38.0 + 0.40.0 The autoware state rviz plugin package Hiroki OTA Takagi, Isamu @@ -14,6 +14,7 @@ ament_index_cpp autoware_adapi_v1_msgs + autoware_motion_utils autoware_vehicle_msgs libqt5-core libqt5-gui diff --git a/common/tier4_state_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_state_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_state_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_state_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp rename to visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_button.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_button.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_button.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_container.cpp b/visualization/tier4_state_rviz_plugin/src/custom_container.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_container.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_container.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_icon_label.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_label.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_label.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_label.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_slider.cpp b/visualization/tier4_state_rviz_plugin/src/custom_slider.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_slider.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_slider.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/visualization/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp diff --git a/common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp rename to visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_button.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_button.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_button.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_button.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_container.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_container.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_container.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_container.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_label.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_label.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_label.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_label.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_slider.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_slider.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_slider.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_slider.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/material_colors.hpp b/visualization/tier4_state_rviz_plugin/src/include/material_colors.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/material_colors.hpp rename to visualization/tier4_state_rviz_plugin/src/include/material_colors.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp similarity index 76% rename from common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp rename to visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp index 70f35ed3793ab..81677a69eb66f 100644 --- a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp +++ b/visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp @@ -17,11 +17,10 @@ #ifndef VELOCITY_STEERING_FACTORS_PANEL_HPP_ #define VELOCITY_STEERING_FACTORS_PANEL_HPP_ +#include #include #include #include -#include -#include #include #include #include @@ -29,6 +28,8 @@ #include #include #include +#include +#include #include @@ -49,6 +50,11 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel void onInitialize() override; protected: + static constexpr double JERK_DEFAULT = 1.0; + static constexpr double DECEL_LIMIT_DEFAULT = 1.0; + + static constexpr QColor COLOR_FREAK_PINK = {255, 0, 108}; + // Layout QGroupBox * makeVelocityFactorsGroup(); QGroupBox * makeSteeringFactorsGroup(); @@ -58,7 +64,14 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel // Planning QTableWidget * velocity_factors_table_{nullptr}; QTableWidget * steering_factors_table_{nullptr}; + QDoubleSpinBox * jerk_input_{nullptr}; + QDoubleSpinBox * decel_limit_input_{nullptr}; + + nav_msgs::msg::Odometry::ConstSharedPtr kinematic_state_; + geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr acceleration_; + rclcpp::Subscription::SharedPtr sub_kinematic_state_; + rclcpp::Subscription::SharedPtr sub_acceleration_; rclcpp::Subscription::SharedPtr sub_velocity_factors_; rclcpp::Subscription::SharedPtr sub_steering_factors_; diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp similarity index 77% rename from common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp rename to visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index b7ea26e2c6895..78ddfae57cd0c 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -21,8 +21,10 @@ #include #include #include +#include #include +#include #include #include @@ -46,7 +48,8 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup() auto vertical_header = new QHeaderView(Qt::Vertical); vertical_header->hide(); auto horizontal_header = new QHeaderView(Qt::Horizontal); - horizontal_header->setSectionResizeMode(QHeaderView::Stretch); + horizontal_header->setSectionResizeMode(QHeaderView::ResizeToContents); + horizontal_header->setStretchLastSection(true); auto header_labels = QStringList({"Type", "Status", "Distance [m]", "Detail"}); velocity_factors_table_ = new QTableWidget(); @@ -54,7 +57,27 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup() velocity_factors_table_->setHorizontalHeaderLabels(header_labels); velocity_factors_table_->setVerticalHeader(vertical_header); velocity_factors_table_->setHorizontalHeader(horizontal_header); - grid->addWidget(velocity_factors_table_, 0, 0); + grid->addWidget(velocity_factors_table_, 0, 0, 4, 1); + + auto * jerk_label = new QLabel("Jerk"); + grid->addWidget(jerk_label, 0, 1); + + jerk_input_ = new QDoubleSpinBox; + jerk_input_->setMinimum(0.0); + jerk_input_->setValue(JERK_DEFAULT); + jerk_input_->setSingleStep(0.1); + jerk_input_->setSuffix(" [m/s\u00B3]"); + grid->addWidget(jerk_input_, 1, 1); + + auto * decel_limit_label = new QLabel("Decel limit"); + grid->addWidget(decel_limit_label, 2, 1); + + decel_limit_input_ = new QDoubleSpinBox; + decel_limit_input_->setMinimum(0.0); + decel_limit_input_->setValue(DECEL_LIMIT_DEFAULT); + decel_limit_input_->setSingleStep(0.1); + decel_limit_input_->setSuffix(" [m/s\u00B2]"); + grid->addWidget(decel_limit_input_, 3, 1); group->setLayout(grid); return group; @@ -90,6 +113,17 @@ void VelocitySteeringFactorsPanel::onInitialize() raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); // Planning + sub_kinematic_state_ = raw_node_->create_subscription( + "/localization/kinematic_state", 10, + [this](const nav_msgs::msg::Odometry::ConstSharedPtr msg) { kinematic_state_ = msg; }); + + sub_acceleration_ = + raw_node_->create_subscription( + "/localization/acceleration", 10, + [this](const geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr msg) { + acceleration_ = msg; + }); + sub_velocity_factors_ = raw_node_->create_subscription( "/api/planning/velocity_factors", 10, std::bind(&VelocitySteeringFactorsPanel::onVelocityFactors, this, _1)); @@ -155,6 +189,26 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray:: label->setAlignment(Qt::AlignCenter); velocity_factors_table_->setCellWidget(i, 3, label); } + + const auto row_background = [&]() -> QBrush { + if (!kinematic_state_ || !acceleration_) { + return {}; + } + const auto & current_vel = kinematic_state_->twist.twist.linear.x; + const auto & current_acc = acceleration_->accel.accel.linear.x; + const auto acc_min = -decel_limit_input_->value(); + const auto jerk_acc = jerk_input_->value(); + const auto decel_dist = autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints( + current_vel, 0., current_acc, acc_min, jerk_acc, -jerk_acc); + if (decel_dist > e.distance && e.distance >= 0 && e.status == VelocityFactor::APPROACHING) { + return COLOR_FREAK_PINK; + } + return {}; + }(); + for (int j = 0; j < velocity_factors_table_->columnCount(); j++) { + velocity_factors_table_->setItem(i, j, new QTableWidgetItem); + velocity_factors_table_->item(i, j)->setBackground(row_background); + } } velocity_factors_table_->update(); } diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst similarity index 70% rename from common/tier4_system_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_system_rviz_plugin/CHANGELOG.rst index 92178542034c4..a895b7135e0c8 100644 --- a/common/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package tier4_system_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_system_rviz_plugin/CMakeLists.txt b/visualization/tier4_system_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_system_rviz_plugin/CMakeLists.txt rename to visualization/tier4_system_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_system_rviz_plugin/README.md b/visualization/tier4_system_rviz_plugin/README.md similarity index 100% rename from common/tier4_system_rviz_plugin/README.md rename to visualization/tier4_system_rviz_plugin/README.md diff --git a/common/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml similarity index 97% rename from common/tier4_system_rviz_plugin/package.xml rename to visualization/tier4_system_rviz_plugin/package.xml index 6b7b089840537..5b768aa077120 100644 --- a/common/tier4_system_rviz_plugin/package.xml +++ b/visualization/tier4_system_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_system_rviz_plugin - 0.38.0 + 0.40.0 The tier4_vehicle_rviz_plugin package Koji Minoda Apache License 2.0 diff --git a/common/tier4_system_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_system_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_system_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_system_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp b/visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp rename to visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp diff --git a/common/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp b/visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp rename to visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp b/visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp rename to visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp b/visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp rename to visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst similarity index 78% rename from common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index b367a66d0357d..72e4ec068910b 100644 --- a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package tier4_traffic_light_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt b/visualization/tier4_traffic_light_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/CMakeLists.txt rename to visualization/tier4_traffic_light_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_traffic_light_rviz_plugin/README.md b/visualization/tier4_traffic_light_rviz_plugin/README.md similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/README.md rename to visualization/tier4_traffic_light_rviz_plugin/README.md diff --git a/common/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png b/visualization/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png rename to visualization/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_panels.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_panels.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/select_panels.png rename to visualization/tier4_traffic_light_rviz_plugin/images/select_panels.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png rename to visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png rename to visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif b/visualization/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif rename to visualization/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml similarity index 97% rename from common/tier4_traffic_light_rviz_plugin/package.xml rename to visualization/tier4_traffic_light_rviz_plugin/package.xml index f1e47741e8f0b..b6645782290c1 100644 --- a/common/tier4_traffic_light_rviz_plugin/package.xml +++ b/visualization/tier4_traffic_light_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_traffic_light_rviz_plugin - 0.38.0 + 0.40.0 The autoware state rviz plugin package Satoshi OTA Apache License 2.0 diff --git a/common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp rename to visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp b/visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp rename to visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst similarity index 87% rename from common/tier4_vehicle_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst index b02695f6f8e17..45d81a4646466 100644 --- a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package tier4_vehicle_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix: missing dependency in common components (`#9072 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt b/visualization/tier4_vehicle_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_vehicle_rviz_plugin/CMakeLists.txt rename to visualization/tier4_vehicle_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_vehicle_rviz_plugin/README.md b/visualization/tier4_vehicle_rviz_plugin/README.md similarity index 100% rename from common/tier4_vehicle_rviz_plugin/README.md rename to visualization/tier4_vehicle_rviz_plugin/README.md diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png diff --git a/common/tier4_vehicle_rviz_plugin/images/handle.png b/visualization/tier4_vehicle_rviz_plugin/images/handle.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/handle.png rename to visualization/tier4_vehicle_rviz_plugin/images/handle.png diff --git a/common/tier4_vehicle_rviz_plugin/images/select_add.png b/visualization/tier4_vehicle_rviz_plugin/images/select_add.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/select_add.png rename to visualization/tier4_vehicle_rviz_plugin/images/select_add.png diff --git a/common/tier4_vehicle_rviz_plugin/images/select_topic_name.png b/visualization/tier4_vehicle_rviz_plugin/images/select_topic_name.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/select_topic_name.png rename to visualization/tier4_vehicle_rviz_plugin/images/select_topic_name.png diff --git a/common/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png b/visualization/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png rename to visualization/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml similarity index 97% rename from common/tier4_vehicle_rviz_plugin/package.xml rename to visualization/tier4_vehicle_rviz_plugin/package.xml index b94f1375cee81..4124ed2d514a3 100644 --- a/common/tier4_vehicle_rviz_plugin/package.xml +++ b/visualization/tier4_vehicle_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_rviz_plugin - 0.38.0 + 0.40.0 The tier4_vehicle_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/common/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp