fix(mpc_lateral_controller): fix mpc predicted trajectory deviation#12500
Closed
mkquda wants to merge 1760 commits intoautowarefoundation:mainfrom
Closed
fix(mpc_lateral_controller): fix mpc predicted trajectory deviation#12500mkquda wants to merge 1760 commits intoautowarefoundation:mainfrom
mkquda wants to merge 1760 commits intoautowarefoundation:mainfrom
Conversation
github-actions
Bot
added
component:control
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
…oundation#12179) feat(autoware_tensorrt_vad): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> Co-authored-by: Max-Bin <vborisw@gmail.com>
…bility (autowarefoundation#12183) feat(autoware_image_projection_based_fusion): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…warefoundation#12184) feat(autoware_lidar_centerpoint): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…warefoundation#12186) feat(autoware_lidar_transfusion): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…efoundation#12192) feat(autoware_tensorrt_yolox): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…arefoundation#12191) feat(autoware_tensorrt_plugins): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…dation#12076) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
…fy node implementation (autowarefoundation#12172) * feat(multi_object_tracker): add core tracking functionality and refactor node implementation - Introduced multi_object_tracker_core.cpp and multi_object_tracker_core.hpp to encapsulate core tracking logic. - Updated CMakeLists.txt to include the new core source file. - Refactored multi_object_tracker_node.cpp to utilize new parameter structure and improve clarity. - Enhanced internal state management and processing logic for object tracking. This commit lays the groundwork for improved object tracking capabilities within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): integrate input manager and odometry into tracking node - Added InputManager and Odometry as unique pointers in MultiObjectTracker's internal state. - Refactored MultiObjectTracker initialization to utilize the new state structure for managing input and odometry. - Updated subscription handling for detected objects to improve input stream management. - Enhanced logging and timing management within InputManager for better debugging and performance tracking. This commit enhances the modularity and clarity of the multi-object tracking functionality within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): enhance parameter handling and tracker configuration - Added comprehensive parameter declarations for various tracker types and their configurations within the MultiObjectTracker constructor. - Introduced a mapping for tracker types to streamline the initialization process and improve clarity. - Enhanced the handling of pruning thresholds and object velocity estimations to support more robust tracking capabilities. This commit improves the configurability and maintainability of the multi-object tracking node in the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): enhance logging and time management in tracking components - Replaced direct node references with logger and clock instances in the Odometry and TrackerDebugger classes for improved logging and time management. - Updated the MultiObjectTracker to utilize the new debugger structure, enhancing the clarity and maintainability of the tracking process. - Refactored the process_objects and get_output functions to accept debugger and time_keeper parameters, streamlining the debugging and timing functionalities. This commit improves the modularity and robustness of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): implement initialization and refactor tracking state management - Added an `init` method to `MultiObjectTrackerInternalState` for streamlined initialization of odometry, input manager, and processor components. - Refactored the `MultiObjectTracker` constructor to utilize the new initialization method, enhancing clarity and maintainability. - Updated header files to include necessary dependencies and improved organization of includes. - Cleaned up formatting and comments for better readability. This commit enhances the modularity and clarity of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): enhance parameter processing and configuration management - Introduced a new `process_parameters` function to streamline the handling of MultiObjectTrackerParameters, including tracker type mappings and pruning thresholds. - Refactored the MultiObjectTracker constructor to utilize the new parameter processing function, improving clarity and maintainability. - Added error handling for matrix initialization to ensure valid configurations for association matrices. - Updated header files to include necessary dependencies and improved organization of includes. This commit enhances the configurability and robustness of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): improve parameter declaration structure and readability - Enhanced the organization of parameter declarations within the MultiObjectTracker constructor for better clarity. - Streamlined the input channel configuration process by consolidating related logic, improving maintainability. - Updated comments to reflect changes and improve overall code readability. This commit enhances the clarity and maintainability of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): enhance input channel configuration and initialization - Changed the data type of the input channel index from `uint` to `uint8_t` for better memory efficiency. - Rearranged the launch file to declare input channel arguments after the object input arguments for improved clarity. - Updated the `InputManager` and `MultiObjectTracker` classes to accommodate the new input topics parameter, enhancing the initialization process. - Refactored the input channel handling logic to streamline the configuration and improve maintainability. This commit improves the structure and efficiency of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): streamline input channel configuration and initialization - Added `is_enabled` flag to `InputChannel` structure to manage channel activation. - Removed `input_topics` from `MultiObjectTrackerParameters` to simplify configuration. - Updated `InputManager` and `MultiObjectTracker` initialization to reflect changes in input channel handling. - Enhanced subscription management by dynamically generating topic names based on channel indices. This commit improves the clarity and maintainability of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): optimize input channel topic generation - Simplified the initialization of input channel topics by using `std::ostringstream` for dynamic string formatting. - Improved readability of the input channel configuration by removing redundant code and enhancing clarity. This commit enhances the maintainability and clarity of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): simplify output handling and remove unused time tracking - Removed the `TimeKeeper` dependency and associated time tracking logic from `process_objects` and `get_output` functions to streamline the code. - Updated the `get_output` function signature to eliminate unnecessary parameters, enhancing clarity. - Improved the handling of output data by directly passing the `PublishData` structure, simplifying the output generation process. This commit enhances the maintainability and readability of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): add get_objects function for improved object retrieval - Introduced a new `get_objects` function to encapsulate the logic for retrieving objects from the input manager, enhancing code clarity and reusability. - Updated the `onTrigger` method in `MultiObjectTracker` to utilize the new `get_objects` function, simplifying the object retrieval process and improving error handling. This commit enhances the maintainability and readability of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): improve object retrieval and output handling - Refactored the `get_output` function into `get_tracked_objects` and `get_merged_objects` for clearer separation of responsibilities in object retrieval. - Removed the `PublishData` structure, simplifying the output handling process. - Updated the `publish` method in `MultiObjectTracker` to utilize the new functions, enhancing code clarity and maintainability. This commit enhances the modularity and readability of the multi-object tracking system within the Autoware framework. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(debugger): initialize debug settings with default values - Updated the DEBUG_SETTINGS struct to provide default values for all parameters, improving clarity and usability. - This change ensures that debug settings are initialized consistently, reducing potential errors during runtime. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): enhance parameter processing and association matrix initialization - Improved the `process_parameters` function by adding comments for clarity and reorganizing the initialization of association matrices. - Introduced a new type alias `ObjectsList` in the header file for better code readability. - Ensured consistent handling of tracker maps and pruning thresholds within the processor configuration. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): update existence probability handling and data structures - Introduced a new `ExistenceProbability` struct to encapsulate channel index and probability, enhancing clarity and maintainability. - Updated `DynamicObject` and `Tracker` classes to utilize the new struct for managing existence probabilities. - Refactored methods for initializing, merging, and updating existence probabilities to accommodate the new data structure. - Adjusted related components in the debugger and processor to ensure consistent handling of existence probabilities. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): streamline input channel parameter initialization - Replaced manual initialization of input channel parameters with a loop using `std::ostringstream` for dynamic string formatting. - Enhanced code readability and maintainability by reducing redundancy in the parameter declaration process. This change improves the clarity and efficiency of the input channel configuration within the multi-object tracking system. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: change object transform failure warning to RCLCPP_WARN_THROTTLE Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): streamline tracker map initialization add fallback of params.tracker_type_map.find(tracker_key) Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
…ly transition to SUCCEEDED after ego passes all shift lines (autowarefoundation#12199) Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
…utowarefoundation#12200) fix(CMakeLists): CUDA and TensorRT condition checks Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…er): remove packages (autowarefoundation#12203) Remove autoware_object_range_splitter package, including all related files such as CMakeLists.txt, package.xml, README.md, configuration, launch files, and source code. This cleanup eliminates the package from the perception module. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…dation#12180) * feat(autoware_bevfusion): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
autowarefoundation#12182) * feat(autoware_ground_segmentation_cuda): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…owarefoundation#12212) Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…utowarefoundation#12211) Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…utowarefoundation#12210) Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…warefoundation#12181) * feat(autoware_camera_streampetr): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…undation#12185) * feat(autoware_lidar_frnet): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…atibility (autowarefoundation#12187) * feat(autoware_probabilistic_occupancy_grid_map): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…n#12188) * feat(autoware_ptv3): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…owarefoundation#12189) * feat(autoware_tensorrt_bevformer): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…towarefoundation#12190) * feat(autoware_tensorrt_classifier): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…bility (autowarefoundation#12193) * feat(autoware_calibration_status_classifier): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…ility (autowarefoundation#12194) * feat(autoware_cuda_pointcloud_preprocessor): CUDA 12.0+ build compatibility Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * feat: restore Turing arch Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…patibility (autowarefoundation#12208) Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
…towarefoundation#12473) * stabilize side shift path Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * change comment Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> --------- Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
…constructor and simplify SetRouteResult (autowarefoundation#12449) * refactor(traffic_light_map_based_detector): require LaneletMapBin in TrafficLightMapBasedDetector constructor Move map initialization from a separate setMap() call into the constructor, strengthening the class invariant so that map-related data is always valid after construction. This eliminates null checks inside setRoute() and detect(), and moves the "map received?" concern to the Node layer where it belongs. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(traffic_light_map_based_detector): simplify SetRouteResult to std::optional<SetRouteError> Replace LogLevel, LogMessage, and SetRouteResult with a single SetRouteError struct returned via std::optional. This removes the unused Warn log level and the logMessages() helper in the Node, making the error path simpler and more direct. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * fix(traffic_light_map_based_detector): improve log message wording Rewrite warning log messages to use the "failed to ..." phrasing and fix ungrammatical wording in the route callback message. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> --------- Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Co-authored-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>
…ssifier (autowarefoundation#12302) * comlops model option adding Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> remove git file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: skipping swap RB channel Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: launch param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add angle calc Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix angle Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: NMS Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * draw detected element into debug image Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: postprocess Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: remaping Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: ped classifier Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * revert launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: empty bug Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: ped Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: ped mode Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * revert unintended chanage tensorrt_commom Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * change to genIoU, check center inside Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: remap Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: angchors values Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * add roi expand Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Revert "fix: angchors values" This reverts commit fde570c. * refix anchors Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: classifier_type param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: debug image Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor debug image Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: launch for new model Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * spelling Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: arch parameters Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: mv model arch param to config file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * rename ml param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: remove unneccesary param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix rename func and args Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * rename func Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * replace pi Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * rename func Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci fix Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ix: lamp override bug Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add fail-safe Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * add sanity check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: ci Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
…tion#12081) chore(miscs): remove unused header include for lanelet2_extension Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…tion (autowarefoundation#12238) Signed-off-by: nishikawa-masaki <masaki.nishikawa@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
…difier (autowarefoundation#12338) * refactor(trajectory_modifier): refactor trajectory_modifier node (#2697) * refactor trajectory_modifier node applies following refactors to the trajectory_modifier node: - Use ros2 plugin framework to load submodules - Use generate_parameter_library to create parameter struct from schema on build - Use ParamListener to handle initial param loading and online param updates Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * remove unnecessary launch-prefix tag * modify param schema Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(trajectory_modifier): implement obstacle stop plugin (#2723) * refactor trajectory_modifier node applies following refactors to the trajectory_modifier node: - Use ros2 plugin framework to load submodules - Use generate_parameter_library to create parameter struct from schema on build - Use ParamListener to handle initial param loading and online param updates Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * remove unnecessary launch-prefix tag * add obstacle stop plugin framework > - add obstacle stop parameters > - add obstacle stop plugin > - update package.xml, plugins.xml, and CMakeLists.txt > - add obstacle stop utils > - implement pointcloud filtering and clustering logic - implement object filtering logic - refactor TrajectoryModifierData struct Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * implement collision check and stop point logic - add function to generate trajectory polygon from footprints - add function to get nearest pcd collision point - add function to get nearest object collision point - add logic to track detected collision points for hysterisis - add logic to insert stop point Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix minimum rule base planner code Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * implement stop point logic - add function to calculate stop point index and modify trajectory - don't use hysterisis logic (on/off time buffers) - check for plugin name string instead of using isClassLoaded() Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * implement smooth stopping logic - compute stopping trajectory from jerk and accel limits, assuming highest initial velocity - use skima spline trajectory interpolator to generate stopping trajectory - use a constant dt to compute s for each interpolated point Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add debug data and markers Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * use motion_utils::calculate_stop_distance function Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * pre-commit fix Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * don't skip entire trajectory modification for missing pcd or predicted objects, disble stop point setting Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix(trajectory_modifier): fix node crash (#2764) check for null ptr Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): improve trajectory modifier stopping behavior (#2770) * improve logic for generating stopping trajectory Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * log name of plugins that modified trajectory Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix stop_point_fixer_integration_test Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): add parameter to enable/disable stopping behavior (#2783) add parameter to enable/disable stopping Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix(trajectory_modifier): add missing checks for obstacle stop flags (#2785) add check for use_objects and use_pointcloud flags Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * refactor(obstacle_stop): refactor stop trajectory generation (#2788) use set_longitudinal_velocity_interpolator() in trajectory_interpolation_util instead of creating separate velocity spline Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): separate shadow mode obstacle check for pcd and objects (#2793) separate shadow mode obstacle check for pcd and objects - add parameters to enable/disable stopping for pcd and objects separately - rename parameters and remove unnecessary unit suffix - log obstacle check result for pcd and objects separately Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): add debug data (#2806) add debug data - add processing time debug details - add target objects debug markers - add target pcd points debug markers - refactor pcd clustering function Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * perf(trajectory_modifier): optimize pointcloud processing for obstacle_stop (#2809) * optimize pointcloud processing - add utility struct PointcloudFilter - set pcd filtering range based on trajectory bounding box - filter out pcd points that belong to a detected object - refactor pointcloud filtering logic in modifier obstacle_stop plugin - refactor pointcloud filtering logic in rule_based_planner obstacle_stop plugin Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add safety factors to planning factor Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): implement obstacle tracker to get persistent obstacles (#2810) * implement obstacle tracker to get persistent objects/points Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add docstring Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * rename PlanningFactor topic name Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * update param schema Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): improve obstacle detection (#2824) * improve obstacle detection - Use nominal deceleration distance to get trajectory checking polygon - Move target stopping distance to satisfy maximum deceleration limit - clear obsolete tracked obstacles before matching new ones Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add configuration params - add obstacle tracking params - add yaw diff threshold for object tracking - fix braking distance calculation Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * use rclcpp time instead of system clock Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): fix obstacle detection near end of trajectory (#2831) * fix obstacle detection near end of traj - ensure detection range includes stop margin beyond traj end - refactor get_trajectory_shape function - fix arc length computation for obstacles beyond traj end Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix stop point setting logic Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * trim trajectory and remove duplicate points - diffusion planner trajectory is time based, so it can have duplicate/overlapped points at low velocities - trim trajectory after zero velocity point - remove overlapped points Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add comments Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): publish processing time (#2843) publish trajectory_modifier processing_time_ms Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * feat(trajectory_modifier): implement rss check for obstacle stop (#2853) * implement rss to evaluate safety of detected obstacles Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * improve velocity updating to prevent discontinuity at start Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * minor fixes Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * refactor object filtering Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix get_trajectory_shape function Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * update trajectory modifier readme, and parameter schema Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix shadowed declaration Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix build issues Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * specify plugin names to load in the param yaml instead of launch file Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix yaml format Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix update_velocities() function to ensure stopping is successful Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * set proper bounds for parameters in struct yaml Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * clean up code Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * remove unused code and parameters Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * check for empty vector vefore access Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix pcd filter bounds, improve trajectory extension to account for turning at end Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ficLightClassifierCar and TrafficLightClassifierPedestrian nodes (autowarefoundation#12490) - Introduced a new parameter `classifier_type` to both TrafficLightClassifierCar and TrafficLightClassifierPedestrian configurations. - The parameter allows selection between different classifier types: 0 for HSVFilter, 1 for CNN, and 2 for LampRecognizer. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…ance flexibility and debugging capabilities (autowarefoundation#11574) * feat: parse landmarks only in target id list Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: Add a y-axis condition to marker selection around the vehicle Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: correct z axis of self pose Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: reference a certain ring Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: make detect_landmarks ring loop robust to empty pointclouds - Add check to skip empty ring pointclouds in detect_landmarks - Prevent unnecessary processing and possible errors when a ring has no points Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: make save_intensity function for csv output - Enable generic processing for multiple point cloud types - Prepare for future multi-LiDAR marker localization support Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * refactor: fix member function declarations and add const qualifiers Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: add debug outputs for marker detection process Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: make queue sizes for output pose configurable Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * doc: Add a y-axis condition to marker selection around the vehicle Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * doc: add marker_height_from_ground to lidar_marker_localizer.schema.json Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml * feat: make initial ring id range configurable Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * doc: update for ndt_lidar-maker mode Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * doc: update for new features in lidar-marker localizer Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * doc: fix indent To indicate the contributor's affiliation Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * refactor: update autoware_utils dependency Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * style(pre-commit): autofix * doc: update schema.json Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * style(pre-commit): autofix * fix: debug topics table and wrong condition to output Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * style(pre-commit): autofix * fix: diagnostics_interface dependency Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * chore: remove codes commented out Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> * style(pre-commit): autofix --------- Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
…2478) * feat(trajectory_validator): support shadow mode Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: get shadow mode as param Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: add guard for empty names Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…hms (autowarefoundation#12477) * feat(multi_object_tracker): implement association manager and scoring modules - Added AssociationManager class to handle online measurement-to-tracker associations and overlap merging. - Introduced scoring modules for match scoring and overlap scoring, including methods for calculating association scores and determining overlap thresholds. - Implemented new association algorithms: SensorPerspectiveAssociation for future enhancements and OverlapMerger for managing spatially redundant trackers. - Updated CMakeLists.txt to include new source files and headers for the association and scoring functionalities. This commit enhances the multi-object tracking capabilities by providing a structured approach to manage associations and overlaps, paving the way for improved tracking accuracy and efficiency. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): enhance association management with new interface and algorithms - Introduced IAssociation interface for measurement-to-tracker association strategies. - Updated AssociationManager to select associators based on input channel configuration. - Implemented DataAssociation and SensorPerspectiveAssociation classes adhering to the new interface. - Enhanced InputChannel struct to support associator type selection. - Updated relevant source files to integrate new association logic and improve modularity. These changes improve the flexibility and extensibility of the association algorithms used in multi-object tracking. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): refactor association components and rename classes for clarity - Renamed OverlapMerger to TrackerMerger to better reflect its functionality in merging spatially redundant trackers. - Updated AssociationManager to utilize TrackerMerger and BevAreaAssociation for improved association management. - Enhanced documentation to clarify the two-layer association process: Detection-to-Tracker (D2T) and Tracker-to-Tracker (T2T). - Adjusted configuration structures and parameters to align with the new naming conventions and improve clarity. These changes enhance the modularity and readability of the multi-object tracking system, facilitating future enhancements and maintenance. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): update overlap configuration to use TrackerMerger - Replaced instances of OverlapMerger with TrackerMerger in the test_multi_object_tracker.cpp file to align with recent refactoring changes. - This update ensures consistency in the configuration naming and improves clarity in the association management process. These changes contribute to a more coherent structure in the multi-object tracking system. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): refactor association management to use BevAreaAssociation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): introduce AssociationInterface for measurement-to-tracker association - Added AssociationInterface as an abstract base class for various association strategies. - Updated existing association classes (BevAreaAssociation, SensorPerspectiveAssociation) to inherit from AssociationInterface, enhancing modularity and clarity. - Refactored AssociationManager to utilize AssociationInterface for selecting association implementations based on input channel configuration. These changes improve the flexibility and maintainability of the multi-object tracking system's association logic. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): refactor association components and introduce new algorithms - Renamed and refactored association classes: OverlapMerger is now TrackerMerger, and new classes BevAssociation and PolarAssociation have been introduced for improved measurement-to-tracker association strategies. - Updated AssociationManager to utilize the new TrackerOverlapManager for merging spatially overlapping trackers, enhancing the modularity and clarity of the association logic. - Adjusted configuration structures to reflect the new naming conventions and improve clarity in the association management process. These changes enhance the flexibility and maintainability of the multi-object tracking system, paving the way for future enhancements. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): simplify AssociationManager by removing TrackerOverlapManager - Removed TrackerOverlapManager from AssociationManager, streamlining the association process to focus solely on measurement-to-tracker associations. - Updated constructor and associated methods to reflect this change, enhancing clarity and reducing complexity in the association logic. - Adjusted TrackerProcessor to directly manage tracker merging through TrackerOverlapManager, maintaining functionality while improving modularity. These changes contribute to a more efficient and maintainable multi-object tracking system. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): update scoring algorithms and refactor association logic - Replaced match scoring and overlap scoring with new assignment scoring and redundancy check modules to enhance the association process. - Introduced new scoring methods for calculating assignment scores and checking for spatial redundancy between trackers. - Updated relevant source files and CMakeLists.txt to reflect these changes, improving modularity and clarity in the association logic. These updates contribute to a more efficient and maintainable multi-object tracking system. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * update copyright year in association header and source files to 2026 Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: rename TrackerLifecycleConfig to TrackerCreationConfig, remove deprecated tracker_lifetime parameter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): add associator_type parameter to input channels Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor(multi_object_tracker): consolidate object model types into a single header - Replaced multiple includes of object_model/types.hpp with a unified include of types.hpp across various files to streamline dependencies. - Introduced a new types.hpp file that consolidates type definitions previously scattered across different files, improving organization and maintainability. - Updated CMakeLists.txt to reflect the new file structure. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style: standardize comment arrow notation in association files - Updated comments in configurations.hpp, association_manager.hpp, and tracker_overlap_manager.cpp to use a consistent arrow notation (->) instead of the previous notation (→). - This change enhances readability and maintains uniformity across the codebase. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style: update comment formatting for consistency across multi_object_tracker files - Changed comment notation from single-line to multi-line style for improved readability in configurations.hpp, association_base.hpp, multi_object_tracker_core.cpp, multi_object_tracker_core.hpp, and debugger.cpp. - This update enhances uniformity in the codebase, making it easier to follow and maintain. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(multi_object_tracker): introduce bev_assignment_scoring for improved assignment scoring - Replaced the previous assignment scoring mechanism with a new `bev_assignment_scoring` module to enhance the calculation of assignment scores between trackers and measurements. - Updated relevant files to reflect the new scoring method, including changes in CMakeLists.txt and associated header/source files. - This update aims to improve the accuracy and efficiency of the multi-object tracking system. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix(association_manager): remove channel config size check Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
…ajectory and its corresponding spline (autowarefoundation#12391) * fix Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * changes for review Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> --------- Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
…tion#12494) Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
…are_utils sub-packages (autowarefoundation#12425)
…e_utils sub-packagesr (autowarefoundation#12443)
…refoundation#12493) Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
… for TrafficLightMapVisualizerNode (autowarefoundation#12487) * test(autoware_traffic_light_visualization): add characterization tests for TrafficLightMapVisualizerNode Add characterization tests to capture the current behavior of TrafficLightMapVisualizerNode before refactoring. These tests serve as a safety net to ensure behavior is preserved during upcoming logic separation and code cleanup. * test(autoware_traffic_light_visualization): clarify map layout diagram with XZ side view Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp> --------- Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp>
… trajectory in world coordinate Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp>
mkquda
force-pushed
the
T4DEV-52678-fix-mpc-predicted-trajectory-deviation
branch
from
c4dc4a5 to
bb0883c
Compare
github-project-automation
Bot
moved this from To Triage
to Done
in Software Working Group
github-actions
Bot
added
type:documentation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
20 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.