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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Berkay Karaman
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
- Junya Sasaki
Authors
- Ali Boyali
- Berkay Karaman
autoware_control_performance_analysis
Purpose
autoware_control_performance_analysis is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.
This package is used as a tool to quantify the results of the control module. That’s why it doesn’t interfere with the core logic of autonomous driving.
Based on the various input from planning, control, and vehicle, it publishes the result of analysis as autoware_control_performance_analysis::msg::ErrorStamped defined in this package.
All results in ErrorStamped message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below.
Werling, Moritz & Groell, Lutz & Bretthauer, Georg. (2010). Invariant Trajectory Tracking With a Full-Size Autonomous Road Vehicle. IEEE Transactions on Robotics. 26. 758 - 765. 10.1109/TRO.2010.2052325.
If you are interested in calculations, you can see the error and error velocity calculations in section C. Asymptotical Trajectory Tracking With Orientation Control.
Error acceleration calculations are made based on the velocity calculations above. You can see below the calculation of error acceleration.
Input / Output
Input topics
| Name | Type | Description |
|---|---|---|
/planning/scenario_planning/trajectory |
autoware_planning_msgs::msg::Trajectory | Output trajectory from planning module. |
/control/command/control_cmd |
autoware_control_msgs::msg::Control | Output control command from control module. |
/vehicle/status/steering_status |
autoware_vehicle_msgs::msg::SteeringReport | Steering information from vehicle. |
/localization/kinematic_state |
nav_msgs::msg::Odometry | Use twist from odometry. |
/tf |
tf2_msgs::msg::TFMessage | Extract ego pose from tf. |
Output topics
| Name | Type | Description |
|---|---|---|
/control_performance/performance_vars |
autoware_control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. |
/control_performance/driving_status |
autoware_control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |
Outputs
autoware_control_performance_analysis::msg::DrivingMonitorStamped
| 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 $[ \mathrm{ms} ]$ |
autoware_control_performance_analysis::msg::ErrorStamped
| 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
| Name | Type | Description |
|---|---|---|
curvature_interval_length |
double | Used for estimating current curvature |
prevent_zero_division_value |
double | Value to avoid zero division. Default is 0.001
|
odom_interval |
unsigned integer | Interval between odom messages, increase it for smoother curve. |
acceptable_max_distance_to_waypoint |
double | Maximum distance between trajectory point and vehicle [m] |
acceptable_max_yaw_difference_rad |
double | Maximum yaw difference between trajectory point and vehicle [rad] |
low_pass_filter_gain |
double | Low pass filter gain |
Usage
- After launched simulation and control module, launch the
control_performance_analysis.launch.xml. - You should be able to see the driving monitor and error variables in topics.
- If you want to visualize the results, you can use
Plotjugglerand useconfig/controller_monitor.xmlas layout. - After import the layout, please specify the topics that are listed below.
- /localization/kinematic_state
- /vehicle/status/steering_status
- /control_performance/driving_status
- /control_performance/performance_vars
- In
Plotjuggleryou can export the statistic (max, min, average) values as csv file. Use that statistics to compare the control modules.
Future Improvements
- Implement a LPF by cut-off frequency, differential equation and discrete state space update.
Changelog for package autoware_control_performance_analysis
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- fix: add missing includes to autoware_universe_utils (#10091)
- Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat: apply [autoware_]{.title-ref} prefix for
[control_performance_analysis]{.title-ref}
(#9982)
* feat(control_performance_analysis): apply
[autoware_]{.title-ref} prefix (see below): Note:
* In this commit, I did not organize a folder structure. The folder
structure will be organized in the next some commits.
- The changes will follow the Autoware's guideline as below:
- https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
- rename(control_performance_analysis): move headers under `include/autoware`:
- Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
- fix(control_performance_analysis): fix include paths
- To follow the previous commit
- rename: [control_performance_analysis]{.title-ref} => [autoware_control_performance_analysis]{.title-ref}
- style(pre-commit): autofix
- bug(autoware_control_performance_analysis): fix inconsistent namespacing
- style(pre-commit): autofix
- update(autoware_control_performance_analysis): [README.md]{.title-ref}
- bug(autoware_control_performance_analysis): fix critical bugs that contaminate topic name
- style(pre-commit): autofix
- fix: update package name for error_rqt_multiplot.xml
- fix: update package name for control_performance_plot.py
- docs(autoware_control_performance_analysis): update package name in README and CHANGELOG.rst
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>> Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>
- Contributors: Fumiya Watanabe, Junya Sasaki
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 <<yutaka.kondo@youtalk.jp>>
- 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
- refactor(signal_processing): prefix package and namespace with autoware (#8541)
- fix(control_performance_analysis): fix unusedFunction (#8557) fix:unusedFunction
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(vehicle_info_utils)!: prefix package and namespace with
autoware
(#7353)
- chore(autoware_vehicle_info_utils): rename header
- chore(bpp-common): vehicle info
- chore(path_optimizer): vehicle info
- chore(velocity_smoother): vehicle info
- chore(bvp-common): vehicle info
- chore(static_centerline_generator): vehicle info
- chore(obstacle_cruise_planner): vehicle info
- chore(obstacle_velocity_limiter): vehicle info
- chore(mission_planner): vehicle info
- chore(obstacle_stop_planner): vehicle info
- chore(planning_validator): vehicle info
- chore(surround_obstacle_checker): vehicle info
- chore(goal_planner): vehicle info
- chore(start_planner): vehicle info
- chore(control_performance_analysis): vehicle info
- chore(lane_departure_checker): vehicle info
- chore(predicted_path_checker): vehicle info
- chore(vehicle_cmd_gate): vehicle info
- chore(obstacle_collision_checker): vehicle info
- chore(operation_mode_transition_manager): vehicle info
- chore(mpc): vehicle info
- chore(control): vehicle info
- chore(common): vehicle info
- chore(perception): vehicle info
- chore(evaluator): vehicle info
- chore(freespace): vehicle info
- chore(planning): vehicle info
- chore(vehicle): vehicle info
- chore(simulator): vehicle info
- chore(launch): vehicle info
- chore(system): vehicle info
- chore(sensing): vehicle info
* fix(autoware_joy_controller): remove unused deps ---------
- feat!: replace autoware_auto_msgs with autoware_msgs for control modules (#7240) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
- fix(control_performance_analysis): fix bug of ignoredReturnValue (#6921)
- Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858
0.26.0 (2024-04-03)
- refactor(common, control, planning): replace boost::optional with
std::optional
(#5717)
- refactor(behavior_path_planner): replace boost optional with std
- do it on motion utils as well.
- up until now
- finally
* fix all issue ---------
- refactor(control_performance_analysis): rework parameters
(#4730)
* refactor the configuration files of the node
control_performance_analysis according to the new ROS node config
guideline. Rename
controller_performance_analysis.launch.xml->control_performance_analysis.launch.xml
update the parameter information in the README.md
- style(pre-commit): autofix
- Update the type of a parameter in schema file.
* revert copyright info ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- style: fix typos in PlotJuggler config files (#3618)
- refactor(control_performance_analysis): refactor structure
(#3786)
- fix(control_performance_analysis): data is not updated on failure
- update
- update all (tmp
- update
- update
* fix pre-commit ---------
- fix(control_performance_analysis): fix interpolate method
(#3704)
- fix(control_performance_analysis): fix interpolate method
- pre-commit
- fix process die due to failure on the closest index search
* minor refactor to use autoware_util ---------
- build: proper eigen deps and include
(#3615)
- build: proper eigen deps and include
* 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 <buildtool_depend>
(#3616)
* build: mark autoware_cmake as <buildtool_depend> with
<build_depend>, autoware_cmake is automatically exported with
ament_target_dependencies() (unecessary)
- style(pre-commit): autofix
* chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>
- chore(typo): eliminate typos
(#2216)
- Replace 'asssert' with 'assert'
- fix(typo): computationall => computational
- fix(typo): collinearity => collinearity
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- fix(typo): propery => properly
- ci(pre-commit): autofix
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- fix(typo): shirinking => shrinking
- fix(typo): turining => turning
- fix(typo): lexas => lexus
- fix(typo): fastetst => fastest
- fix(typo): analyse => analyze
- fix(typo): ordinaray => ordinary
- fix(typo): existance => existence
- fix(typo): insert missing space
- fix(typo): modify url including typo in original url
- fix(typo): precompined => precomputed
- fix(typo): magitude => magnitude
- fix(typo): exernal => external
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- fix(typo): expicitly => explicitly
- fix(typo): paremterized => parameterized
- fix(typo): thier => their
- fix(typo): simualtor => simulator
- fix(typo): modifiy => modify
- fix(typo): neccessary => necessary
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- fix(typo): chagne => change
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- fix(typo): unknwon => unknown
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- fix(typo): analitically => analytically
- fix(typo): modify url including typo in original url
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- fix(typo): hypothenus => hypotenuse
- fix(typo): neighbour => neighbor
- ci(pre-commit): autofix
- fix(typo): modify url including typo in original url
- fix(typo): kiro => kilo
- fix(typo): flowchar => flowchart
- fix(typo): projecton => projection
- fix(cspell): divide variable name with space to fix cspell error
- fix(typo): yawrate => yaw rate
- fix(typo): timelag => time_lag
- fix(cspell): divide variable name with space to fix cspell error
- fix(typo): retrive => retrieve
- fix(typo): posemsg => pose msg
- fix(cspell): replace northup with east_north_up
- ci(pre-commit): autofix
- fix(cspell): ignore person names
- fix(cspell): ignore cspell error due to the source from OpenCV
- fix(cspell): ignore cspell error due to the source from OpenCV
- ci(pre-commit): autofix
- chore(spell-check): ignore minx, maxx, miny, maxy, minz, maxz from autoware parameter names
- chore(spell-check): Ignore cspell errors caused by external factor(plotjuggler)
- fix(typo): dereferencable => dereferenceable
- fix(typo): maxs => maxes
- fix(typo): interpolatable => interpolable (more common)
- fix(typo): fillter => filter
- fix(typo): retrurn => return
- fix(typo): diagnotics => diagnostics
- fix(typo): Frist => First
- chore(cspell): ignore ptfilter (external reference code)
- fix(typo): overwite => overwrite
- fix(cspell): use semi-major instead of semimajor
- fix(typo): transien => transient
- chore(cspell): ignore multipolygon, multilinestring
- fix(typo): symetric => symmetric
- chore(cspell): ignore Gammell (person name)
- chore(cspell): ignore Karaman (person name)
- chore(cspell): ignore feps with adding explanation
- chore(cspell): replace iradius with i_radius
- chore(cspell): replace inorm with inv_norm
- chore(cspell): replace idist with i_dist
- chore(cspell): ignore lfit, LFIT
- chore(cspell): ignore Bboxes
- fix(typo): unsuppoerted => unsupported
- chore(cspell): ignore person names
- chore(cspell): replace eigvec with eig_vec
- chore(cspell): replace eigv with eig_v
- chore(cspell): ignore eigenbox
- chore(cspell): replace fltmax with flt_max
- chore(cspell): ignore asan
- ci(pre-commit): autofix
- chore(cspell): ignore rsspace with adding explanation
- chore(cspell): replace bfqueue with bf_queue
- chore(cspell): expanded abbreviations in variable names in debug_plot.py
- chore(cspell): ignore nparr with adding explanation
- chore(cspell): replace vmodel with vehicle_model
- chore(cspell): ignore fpalgos
- ci(pre-commit): autofix
- chore(cspell): replace inpro with inner_product
- chore(cspell): replace iradius with i_radius
- chore(cspell): replace sstm with ss
- chore(cspell): ignore dend
- chore(cspell): ignore ndim, ndata, linewidth
- ci(pre-commit): autofix
- chore(cspell): ignore errors from parameter name
- fix(typo): socre => score
- chore(cspell): newstamp => new_stamp
- chore(cspell): fuseon => fuseOn
- chore(cspell): stdpair => std_pair
- chore(cspell): boxid => box_id
- fix(typo): intensity => intensity
- fix(typo): inorder to => in order to
- chore(cspell): ignore divup
- chore(cspell): faceobjects => face_objects
- chore(cspell): ignore rsspace
- chore(cspell): ignore errors from citation
- chore(cspell): ignore moraisim
- chore(cspell): ignore ADMM
- chore(cspell): ignore pointinpoly from reference
- fix(typo): replaned => replanned
- fix(typo): interaface => interface
- fix(typo): supress => suppress
- ci(pre-commit): autofix
- fix(typo): distane => distance
- fix(typo): relevent => relevant
- fix(typo): pedestrain => pedestrian
- fix(typo): obejct => object
- fix(typo): paramters => parameters
- ci(pre-commit): autofix
- chore(cspell): ignore asdasd
- chore(cspell): unnormalized => un-normalized
- chore(cspell): precompilation => pre-compilation
- fix(typo): compensents => components
- fix(typo): cummulative => cumulative
- chore(cspell): ignore degrounded
- chore(cspell): ignore person names
- ci(pre-commit): autofix
- chore(cspell): publically => publicly
- chore(cspell): interpolable => interpolatable
- chore(cspell): ignore longl
- chore(cspell): pngs => png images
- chore(cspell): concate => concat
- chore(cspell): ignore cand
- chore(cspell): image magick => imagemagick
- fix(typo): faceo_ject=> face_object
- chore(cspell): velocityinsertion => velocity insertion
- fix(typo): euclidian => euclidean
- chore(cspell): ignore steerings
- chore(cspell): ignore OCCUPANCYGRID
- fix(typo): occuring => occurring
- fix(typo): refere => refer
- chore(cspell): ignore fourcell
- chore(cspell): eigvalue => eigenvalue
- chore(cspell): ignore badpt
- chore(cspell): ignore divb
- ci(pre-commit): autofix
- style(pre-commit): autofix
* doc: add comment to describe LFIT Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>>
- fix(typo): computationall => computational
- fix(typo): hypothenus => hypotenuse
- ci(pre-commit): autofix
- fix(typo): computationall => computational
- fix(typo): hypothenus => hypotenuse
- ci(pre-commit): autofix
- update
- fix(typo): interpolatable => interpolable (more common)
* Squashed commit of the following: commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <<38597814+HiroIshida@users.noreply.github.com>> Date: Fri Dec 16 13:51:35 2022 +0900 test(freespace_planning_algorithms): done't dump rosbag by default (#2504) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <<44218668+kminoda@users.noreply.github.com>> Date: Fri Dec 16 09:29:35 2022 +0900 feat(pose_initializer): partial map loading (#2500)
- first commit
- move function
- now works
- ci(pre-commit): autofix
- update readme
- ci(pre-commit): autofix
- clarify how to enable partial mao loading interface
- ci(pre-commit): autofix
- update readme
- ci(pre-commit): autofix
* Update localization/pose_initializer/config/pose_initializer.param.yaml Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> * fix pre-commit 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>> commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Date: Thu Dec 15 17:29:44 2022 +0900 feat(trajectory_follower): extend mpc trajectory for terminal yaw (#2447)
- feat(trajectory_follower): extend mpc trajectory for terminal yaw
- make mpc min vel param
- add mpc extended point after smoothing
* Revert "make mpc min vel param" This reverts commit 02157b6ae0c2ff1564840f6d15e3c55025327baf.
- add comment and hypot
- remove min vel
- add flag for extending traj
- add extend param to default param
- fix typo
- fix from TakaHoribe review
- fix typo
* refactor commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Thu Dec 15 15:52:34 2022 +0900 feat(component_interface_tools): add service log checker (#2503)
- feat(component_interface_utils): add service log checker
- feat(component_interface_tools): add service log checker
- feat(component_interface_tools): add diagnostics
* feat: update system error monitor config commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Thu Dec 15 12:54:11 2022 +0900 fix(behavior_path_planner): fix goal lanelet extension (#2508) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <<81.s.kyo.19@gmail.com>> Date: Thu Dec 15 10:45:45 2022 +0900 feat(behavior_path_planner): change side shift module logic (#2195)
- change side shift module design
- cherry picked side shift controller
- add debug marker to side shift
* fix pointer error due to direct assignment added make_shared
- add flow chart
- add status of AFTER_SHIFT
- remove function for debug
- ci(pre-commit): autofix
- fix flow chart
* ci(pre-commit): autofix Co-authored-by: tanaka3 <<ttatcoder@outlook.jp>> Co-authored-by: Muhammad Zulfaqar Azmi <<zulfaqar.azmi@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe <<horibe.takamasa@gmail.com>> Date: Wed Dec 14 19:59:00 2022 +0900 refactor(simple_planning_simulator): make function for duplicated code (#2502) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Wed Dec 14 17:48:24 2022 +0900 fix(behavior_path_planner): fix planner data copy (#2501) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Wed Dec 14 14:42:16 2022 +0900 fix(behavior_path_planner): fix find nearest function from lateral distance (#2499)
- feat(behavior_path_planner): fix find nearest function from lateral distance
* empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Wed Dec 14 11:28:07 2022 +0900 feat(behavior_path_planner): fix overlap checker (#2498)
- feat(behavior_path_planner): fix overlap checker
* remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <<56237550+ismetatabay@users.noreply.github.com>> Date: Tue Dec 13 16:51:59 2022 +0300 feat(mission_planner): check goal footprint (#2088) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe <<horibe.takamasa@gmail.com>> Date: Tue Dec 13 22:46:24 2022 +0900 feat(trajectory_visualizer): update for steer limit, remove tf for pose source (#2267) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Tue Dec 13 19:47:16 2022 +0900 feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (#2494)
- feat(behavior_path_planner): clean drivable area code
* make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Tue Dec 13 18:19:41 2022 +0900 feat(behavior_path_planner): change turn signal output timing (#2493) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <<44218668+kminoda@users.noreply.github.com>> Date: Tue Dec 13 09:16:14 2022 +0900 feat(map_loader): add differential map loading interface (#2417)
- first commit
- ci(pre-commit): autofix
- added module load in _node.cpp
- ci(pre-commit): autofix
- create pcd metadata dict when either of the flag is true
- ci(pre-commit): autofix
- fix readme
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Tue Dec 13 08:49:23 2022 +0900 docs(default_ad_api): add readme (#2491)
- docs(default_ad_api): add readme
* feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Tue Dec 13 06:46:20 2022 +0900 feat(default_ad_api): split parameters into file (#2488)
- feat(default_ad_api): split parameters into file
- feat: remove old parameter
- fix: test
* feat: add default config commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Mon Dec 12 22:16:54 2022 +0900 feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (#2472)
- update
- update
- update
- update obstacle avoidance planner
- update
- clean code
- uddate
- clean code
- remove resample
- update
- add orientation
- change color
- update
- remove drivable area
- add flag
- update
- update color
- fix some codes
- change to makerker array
* change avoidance utils commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Mon Dec 12 17:15:10 2022 +0900 refactor(vehicle_cmd_gate): remove old emergency topics (#2403) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Date: Mon Dec 12 16:04:00 2022 +0900 feat: replace python launch with xml launch for system monitor (#2430)
- feat: replace python launch with xml launch for system monitor
- ci(pre-commit): autofix
* update figure Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Date: Mon Dec 12 15:01:39 2022 +0900 feat(trajectory_follower): pub steer converged marker (#2441)
- feat(trajectory_follower): pub steer converged marker
* Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. * add steer converged debug marker in contoller_node commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Mon Dec 12 12:48:41 2022 +0900 docs(tier4_state_rviz_plugin): update readme (#2475) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Mon Dec 12 11:57:03 2022 +0900 chore(simulator_compatibility_test): suppress setuptools warnings (#2483) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Date: Mon Dec 12 10:00:35 2022 +0900 fix(behavior_path_planner): lane change candidate resolution (#2426)
- fix(behavior_path_planner): lane change candidate resolution
- rework sampling based on current speed
- refactor code
- use util's resampler
- consider min_resampling_points and resampling dt
* simplify code commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Date: Mon Dec 12 09:57:19 2022 +0900 fix(behavior_path_planner): minimum distance for lane change (#2413) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Date: Fri Dec 9 21:27:18 2022 +0900 revert(behavior_path): revert removal of refineGoalFunction (#2340)" (#2485) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <<103234047+NorahXiong@users.noreply.github.com>> Date: Fri Dec 9 19:53:51 2022 +0800 fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (#2350) Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> Date: Fri Dec 9 17:12:13 2022 +0900 fix(ground-segmentation): recheck gnd cluster pointcloud (#2448)
- fix: reclassify ground cluster pcl
- fix: add lowest-based recheck
- chore: refactoring
* chore: refactoring Co-authored-by: Shunsuke Miura <<37187849+miursh@users.noreply.github.com>> commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe <<horibe.takamasa@gmail.com>> Date: Fri Dec 9 16:29:45 2022 +0900 fix(trajectory_follower): fix mpc trajectory z pos (#2482) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Fri Dec 9 12:40:30 2022 +0900 feat(behavior_velocity_planner): clean walkway module (#2480) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara <<mkuri8m@gmail.com>> Date: Thu Dec 8 22:59:32 2022 +0900 fix(emergency_handler): fix mrm handling when mrm behavior is none (#2476) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Thu Dec 8 17:16:13 2022 +0900 feat(behavior_velocity_planner): add velocity factors (#1985)
- (editting) add intersection_coordination to stop reason
- (editting) add intersection coordination to stop reasons
- (Editting) add v2x to stop reason
- (editting) add stop reason2 publisher
- (editting) add stop reason2 to scene modules
- add stop reason2 to obstacle stop planner and surround obstacle checker
- Modify files including unintended change by rebase
- ci(pre-commit): autofix
- Modification 1: not to publsh vacant stop reason, 2: change default status in obstacle stop and surround obstacle checker
- fix error
- ci(pre-commit): autofix
- modification for renaming stop_reason2 to motion_factor
- (Editting) rename variables
- bug fix
- (WIP) Add motion factor message. Modify scene modules due to new motion factor. Moving motion factor aggregator.
- (WIP) Save current work. Modify aggregator, CMakeList. Add launcher
- (WIP) Solved build error, but not launched
- (WIP) fixing error in launch
- (WIP) fixing error in launch
- (WIP) fixing launch error
- Fix error in launching motion factor aggregator
- Delete unnecessary comment-out in CMakelists. Change remapping in launcher.
- ci(pre-commit): autofix
- pull the latest foundation/main
- (fix for pre-commit.ci) Add <memory> to motion_factor_aggregator.hpp
- ci(pre-commit): autofix
- feat: add velocity factor interface
- fix: fix build error
- feat: stop sign
- WIP
- feat: update visualizer
- feat: modify traffic light manager
- feat: update velocity factors
- feat: update api
- feat: move adapi msgs
- feat: remove old aggregator
- feat: move api
- feat: rename message
- feat: add using
- feat: add distance
- feat: fix build error
- feat: use nan as default distance
- fix: set virtual traffic light detail
- fix: remove debug code
* fix: copyright Co-authored-by: TakumiKozaka-T4 <<takumi.kozaka@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Date: Thu Dec 8 13:42:50 2022 +0900 fix(freespace_planning_algorithms): comment out failing tests (#2440) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <<44218668+kminoda@users.noreply.github.com>> Date: Thu Dec 8 11:57:04 2022 +0900 feat(gyro_odometer): publish twist when both data arrives (#2423)
- feat(gyro_odometer): publish when both data arrive
- remove unnecessary commentouts
- ci(pre-commit): autofix
- use latest timestamp
- small fix
- debugged
- update gyro_odometer
- ci(pre-commit): autofix
- add comments
- add comments
- ci(pre-commit): autofix
- fix timestamp validation flow
- ci(pre-commit): autofix
- remove unnecessary commentouts
- pre-commit
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <<44218668+kminoda@users.noreply.github.com>> Date: Thu Dec 8 11:08:29 2022 +0900 fix: remove unnecessary DEBUG_INFO declarations (#2457) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka <<takayuki5168@gmail.com>> Date: Thu Dec 8 00:28:35 2022 +0900 fix(tier4_autoware_api_launch): add rosbridge_server dependency (#2470) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Date: Wed Dec 7 19:32:09 2022 +0900 fix: rename [use_external_emergency_stop]{.title-ref} to [check_external_emergency_heartbeat]{.title-ref} (#2455)
- fix: rename use_external_emergency_stop to check_external_emergency_heartbeat
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Wed Dec 7 18:00:32 2022 +0900 fix(motion_utils): rename sampling function (#2469) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito <<yukky.saito@gmail.com>> Date: Wed Dec 7 16:33:44 2022 +0900 feat: remove web controller (#2405) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Wed Dec 7 15:39:28 2022 +0900 feat(motion_utils): add points resample function (#2465) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <<115005477+Mingyu1991@users.noreply.github.com>> Date: Wed Dec 7 14:42:33 2022 +0900 docs: update training data for traffic light (#2464)
- update traffic light cnn classifier README.md
* correct to upper case Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe <<veqcc.c@gmail.com>> Date: Wed Dec 7 12:21:49 2022 +0900 perf(behavior_velocity_planner): remove unnecessary debug data (#2462) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <<43805014+purewater0901@users.noreply.github.com>> Date: Wed Dec 7 12:03:46 2022 +0900 feat(behavior_path_planner): cut overlapped path (#2451)
- feat(behavior_path_planner): cut overlapped path
* clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Wed Dec 7 11:06:41 2022 +0900 revert(default_ad_api): fix autoware state to add wait time (#2407) (#2460) Revert "fix(default_ad_api): fix autoware state to add wait time (#2407)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara <<mkuri8m@gmail.com>> Date: Wed Dec 7 10:32:41 2022 +0900 fix(raw_vehicle_cmd_converter): fix column index for map validation (#2450) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent <<ambroise.vincent@arm.com>> Date: Tue Dec 6 10:39:02 2022 +0100 fix(tvm_utility): copy test result to CPU (#2414) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d Co-authored-by: Xinyu Wang <<93699235+angry-crab@users.noreply.github.com>> commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue <<mamoru.sobue@tier4.jp>> Date: Tue Dec 6 18:11:41 2022 +0900 chore(behaviror_velocity_planner): changed logging level for intersection (#2459) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Date: Tue Dec 6 17:01:37 2022 +0900 fix(default_ad_api): fix autoware state to add wait time (#2407)
- fix(default_ad_api): fix autoware state to add wait time
* Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe <<horibe.takamasa@gmail.com>> Date: Tue Dec 6 13:55:17 2022 +0900 feat(transition_manager): add param to ignore autonomous transition condition (#2453)
- feat(transition_manager): add param to ignore autonomous transition condition
- same for modeChangeCompleted
* remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura <<tomoya.kimura@tier4.jp>> Date: Tue Dec 6 13:01:06 2022 +0900 feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (#2427)
- chore(cspell): interpolable => interpolatable
* Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing changes made to 1f7157a6b6d957dc0ddd2ac5ef7f8a36c94b96e4.
- chore: fix duplication of parameter
- chore: fix duplication of function
* revert: system/system_monitor/launch/system_monitor.launch.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>>
- refactor(control_performance_analysis): delete default values (#2944) delete param Co-authored-by: yamazakiTasuku <<tasuku.yamazaki@tier4.jp>>
- chore(control, planning): add maintainers
(#2951)
- chore(control_performance_analysis): add maintainers
- chore(external_cmd_selector): add maintainers
- chore(joy_controller): add maintainers
- chore(obstacle_collision_checker): add maintainers
- chore(scenariio_selector): add maintainers
* fix(control_performance_analysis): control/control_performance_analysis/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> ---------Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>
- chore: remove motion_common dependency
(#2231)
- remove motion_common from smoother
- remove motion_common from control_performance_analysis and simple_planning_simualtor
- fix include
- add include
- chore: missing topic info duration 1000 -> 5000 (#2056)
- chore(planning/control packages): organized authors and maintainers
(#1610)
- organized planning authors and maintainers
- organized control authors and maintainers
- fix typo
- fix colcon test
* fix Update control/external_cmd_selector/package.xml Update control/vehicle_cmd_gate/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/motion_velocity_smoother/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/planning_debug_tools/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/shift_decider/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/pure_pursuit/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/freespace_planner/package.xml Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Update control/operation_mode_transition_manager/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/planning_debug_tools/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/shift_decider/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/pure_pursuit/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/operation_mode_transition_manager/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>
- fix
* fix Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>
- fix(control_performance_analysis): fix choosing wrong closest
trajectory point
(#1522)
- fix(control_performance_analysis): fix choosing wrong closest trajectory point
- removed comments
- ci(pre-commit): autofix
- Single-parameter constructors marked explicit.
- Removed unnecessary variable and change the struct name
- optimized declaration of variables
- update for parameter declaration
- ci(pre-commit): autofix
- changed desired steering angle calculation
- ci(pre-commit): autofix
- get reference of some variables
* ci(pre-commit): autofix Co-authored-by: Berkay <<berkay@leodrive.ai>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(control_performance_analysis): monitor desired and current
steering tire angle in driving monitor
(#1133)
- feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor
- ci(pre-commit): autofix
- update readme
- ci(pre-commit): autofix
- update lpf for steering monitor
* ci(pre-commit): autofix Co-authored-by: Berkay <<berkay@leodrive.ai>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(control_performance_analysis): add low pass filter to
control_performance_analysis tool
(#1099)
- feat(control_performance_analysis): add low pass filter to control_performance_analysis tool
- ci(pre-commit): autofix
* Member variables are suffixed by an underscore Co-authored-by: Berkay <<berkay@leodrive.ai>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(control_performance_analysis): add new functionalities to evaluate the control modules (#659) Co-authored-by: M. Fatih Cırıt <<mfc@leodrive.ai>>
- fix: set Eigen include directory as SYSTEM for Humble arm64 (#978)
- chore: upgrade cmake_minimum_required to 3.14 (#856)
- refactor: simplify Rolling support (#854)
- refactor: use autoware cmake
(#849)
- remove autoware_auto_cmake
- add build_depend of autoware_cmake
- use autoware_cmake in CMakeLists.txt
- fix bugs
- fix cmake lint errors
- fix(control_performance_analysis): modify build error in rolling (#757)
- fix(tier4_autoware_utils): modify build error in rolling
(#720)
- fix(tier4_autoware_utils): modify build error in rolling
- fix(lanelet2_extension): add target compile definition for geometry2
- fix(ekf_localizer): add target compile definition for geometry2
- fix(freespace_planning_algorithms): add target compile definition for geometry2
- fix(interpolation): add target compile definition for geometry2
- fix(freespace_planner): add target compile definition for geometry2
- fix(lane_departure_checker): add target compile definition for geometry2
- fix(map_based_prediction): add target compile definition for geometry2
- fix(ground_segmentation): add target compile definition for geometry2
- fix(motion_velocity_smoother): add target compile definition for geometry2
- fix(multi_object_tracker): add target compile definition for geometry2
- fix(trajectory_follower): add target compile definition for geometry2
- fix(control_performance_analysis): add target compile definition for geometry2
- fix(detected_object_validation): add target compile definition for geometry2
- fix(goal_distance_calculator): add target compile definition for geometry2
- fix(ndt_scan_matcher): add target compile definition for geometry2
- fix(route_handler): add target compile definition for geometry2
- fix(behavior_path_planner): add target compile definition for geometry2
- fix(mission_planner): add target compile definition for geometry2
- fix(obstacle_avoidance_planner): add target compile definition for geometry2
- fix(obstacle_stop_planner): add target compile definition for geometry2
- fix(obstacle_collision_checker): add target compile definition for geometry2
- fix(shape_estimation): add target compile definition for geometry2
- fix(behavior_velocity_planner): add target compile definition for geometry2
- fix(path_distance_calculator): add target compile definition for geometry2
- fix(detection_by_tracker): add target compile definition for geometry2
- fix(surround_obstacle_checker): add target compile definition for geometry2
- fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2
- fix(tier4_debug_tools): add target compile definition for geometry2
- fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2
- fix(pure_pursuit): add target compile definition for geometry2
- fix(trajectory_follower_nodes): add target compile definition for geometry2
- fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2
- fix(traffic_light_map_based_detector): add target compile definition for geometry2
- fix(planning_error_monitor): add target compile definition for geometry2
- fix(planning_evaluator): add target compile definition for geometry2
- fix(lidar_centerpoint): add target compile definition for geometry2
- ci(pre-commit): update pre-commit-hooks-ros
(#625)
- ci(pre-commit): update pre-commit-hooks-ros
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- chore: replace legacy timer
(#329)
- chore(goal_distance_calculator): replace legacy timer
- chore(path_distance_calculator): replace legacy timer
- chore(control_performance_analysis): replace legacy timer
- chore(external_cmd_selector): replace legacy timer
- chore(joy_controller): replace legacy timer
- chore(lane_departure_checker): replace legacy timer
- chore(obstacle_collision_checker): replace legacy timer
- chore(pure_pursuit): replace legacy timer
- chore(shift_decider): replace legacy timer
- chore(trajectory_follower_nodes): replace legacy timer
- chore(vehicle_cmd_gate): replace legacy timer
- chore(ekf_localizer): replace legacy timer
- chore(localization_error_monitor): replace legacy timer
- chore(multi_object_tracker): replace legacy timer
- chore(tensorrt_yolo): replace legacy timer
- chore(traffic_light_classifier): replace legacy timer
- chore(traffic_light_ssd_fine_detector): replace legacy timer
- chore(traffic_light_visualization): replace legacy timer
- chore(behavior_path_planner): replace legacy timer
- chore(costmap_generator): replace legacy timer
- chore(freespace_planner): replace legacy timer
- chore(planning_error_monitor): replace legacy timer
- chore(scenario_selector): replace legacy timer
- chore(pointcloud_preprocessor): replace legacy timer
- chore(dummy_perception_publisher): replace legacy timer
- chore(ad_service_state_monitor): replace legacy timer
- chore(dummy_diag_publisher): replace legacy timer
- chore(emergency_handler): replace legacy timer
- chore(system_error_monitor): replace legacy timer
- chore(topic_state_monitor): replace legacy timer
- chore(accel_brake_map_calibrator): replace legacy timer
- chore(external_cmd_converter): replace legacy timer
- chore(pacmod_interface): replace legacy timer
- chore(lint): apply pre-commit
- fix(control performance analysis): suppress warnings
(#293)
- fix: delete unused variable
- feat: add Werror
- fix: fix clang-diagnostic-unused-private-field
- feat: rename existing packages name starting with autoware to
different names
(#180)
- autoware_api_utils -> tier4_api_utils
- autoware_debug_tools -> tier4_debug_tools
- autoware_error_monitor -> system_error_monitor
- autoware_utils -> tier4_autoware_utils
- autoware_global_parameter_loader -> global_parameter_loader
- autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter
- autoware_joy_controller -> joy_controller
- autoware_error_monitor -> system_error_monitor(launch)
- autoware_state_monitor -> ad_service_state_monitor
- autoware_web_controller -> web_controller
- remove autoware_version
- remove autoware_rosbag_recorder
- autoware__rviz_plugin -> tier4__rviz_plugin
- fix ad_service_state_monitor
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat: load vehicle info default param
(#148)
- update global_parameter loader readme
- remove unused dependency
- add default vehicle_info_param to launch files
- fix: import os
* Update simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>> * Update perception/ground_segmentation/launch/scan_ground_filter.launch.py Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>>
- fix dependency
- fix scan_ground_filter.launch
* ci(pre-commit): autofix Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat: change pachage name: autoware_msgs -> tier4_msgs
(#150)
- change pkg name: autoware__msgs -> tier__msgs
- ci(pre-commit): autofix
- autoware_external_api_msgs -> tier4_external_api_msgs
- ci(pre-commit): autofix
* fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>>
- feat: add control_performance_analysis
(#95)
- Feature/porting control performance analysis (#1671)
- Feature/control performance analysis (#1212)
- First commit of kinematic_controller
- First commit.
- second commit
- Just setup updated Autoware.
- changed package name.
- Messages variables are created.
- Writing subscribers and publishers.
- Writing subscribers. Traj, pose and control_values are read into the node.
- Computing control performance variables.
- Computing control performance variables.
- Current velocity subscribed.
- Acceleration performance is computed.
- Publishing completed. Will start rqt_multiplot
- Publishing completed. Decay rate fixed. Will start rqt_multiplot
- rqt_multiplot first configuration.
- Update pure_pursuit.launch
- Update pure_pursuit.launch
- Update .gitignore
- Update Error.msg
- Update control_performance_utils.cpp
- Update ErrorStamped.msg
- Update package.xml
- rqt_multiplot first configuration.
- Update controller_performance_core.cpp
- Update controller_performance_core.cpp
- Update CMakeLists.txt
- Update control_performance_analysis_param.yaml
- EPS is added for value_decay_rate.
- There is a bug.
- Bug removed.
- Bug removed.
- lateral_acceleration is published.
- Interpolated pose is added.
- Update controller_performance_node.cpp
- find Curve index bug is removed.
- dot product on projection is updated.
- Vehicle measured steering is included in the node and rqt_graph.
- Review will be requested.
* After the test: Three point curvature module is added. Std:vector will be fixed. * After the test: Curvature plot is added. * After the test: Fine tuned.
- rqt curvature is modified.
- Pure pursuit curvature is implemented and tested. Results are fine.
- addressed some code review issues. Will replace get_pose.
- GetPose is removed.
- All the core review issues have been addressed.
- Rename files
- Porting control performance analysis
- Apply lint
- Add boost dependency for optional
- Remove confusing abbreviation
- Fix dependency in packages.xml
- Add missing new line
- Add comment for eigen macro
* pre-commit fixes Co-authored-by: Ali BOYALI <<boyali@users.noreply.github.com>>
- Fix package.xml (#2056)
- Fix typo for control_performance_analysis (#2328)
- fix typo
- fix Contro -> Control
- fix for spellcheck
- fix
- Change formatter to clang-format and black (#2332)
* Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.
- Replace ament_lint_common with autoware_lint_common
- Remove ament_cmake_uncrustify and ament_clang_format
- Apply Black
- Apply clang-format
- Fix build errors
- Fix for cpplint
- Fix include double quotes to angle brackets
- Apply clang-format
- Fix build errors
- Add COLCON_IGNORE (#500)
- adapt to actuation cmd/status as control msg (#646)
- adapt to actuation cmd/status as control msg
- fix readme
- fix topics
- fix remaing topics
- as to pacmod interface
- fix vehicle status
- add header to twist
- revert gyro_odometer_change
- revert twist topic change
- revert unchanged package
- port control_performance_analysis (#698)
- port control_performance_analysis
- rename
- fix topic name
- remove unnecessary depedency
- change name of odom topic
- add readme in control_performance_analysis (#716)
- add readme
- update readme
- update readme
- Update control/control_performance_analysis/README.md
- Update twist topic name (#736)
* Apply suggestions from code review Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Ali BOYALI <<boyali@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: Kosuke Murakami <<kosuke.murakami@tier4.jp>> Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>>
- Contributors: Berkay Karaman, Daisuke Nishimatsu, Hiroki OTA, Kenji Miyake, Kotaro Yoshimoto, Satoshi OTA, Takamasa Horibe, Takayuki Murooka, Takeshi Miura, Tomoya Kimura, Vincent Richard, Yuntianyi Chen, Zulfaqar Azmi, yamazakiTasuku
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| libboost-dev |
Dependant Packages
Launch files
- launch/control_performance_analysis.launch.xml
-
- control_performance_analysis_param_path [default: $(find-pkg-share autoware_control_performance_analysis)/config/control_performance_analysis.param.yaml]
- input/reference_trajectory [default: /planning/scenario_planning/trajectory]
- input/control_raw [default: /control/command/control_cmd]
- input/measured_steering [default: /vehicle/status/steering_status]
- input/current_odometry [default: /localization/kinematic_state]
- output/error_stamped [default: /control_performance/performance_vars]
- output/driving_status_stamped [default: /control_performance/driving_status]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]