Control data collecting tool

This package provides tools for automatically collecting data using pure pursuit control within a specified rectangular area.

Overview

• This package aims to collect a dataset consisting of control inputs (i.e. control_cmd) and observation variables (i.e. kinematic_state, steering_status, etc).
• The collected dataset can be used as training dataset for learning-based controllers, including smart_mpc.

• Data collecting approach is as follows:

  • Following the trajectory using a pure pursuit control law.
  • Adding noises to the trajectory and the control command for data diversity, improving the prediction accuracy of learning model.

  • Setting the trajectory from the following types of trajectories ( [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle, along_road] ).

    • COURSE_NAME: eight_course

      

    • COURSE_NAME: u_shaped_return

      

    • COURSE_NAME: straight_line_positive or COURSE_NAME: straight_line_negative

      ( Both “straight_line_positive” and “straight_line_negative” represent straight line courses, but the direction of travel of the course is reversed.)

      

    • COURSE_NAME: reversal_loop_circle

      Drive within a circle while adding trajectories and collect data.

      

    • COURSE_NAME: along_road

      Generate trajectories along the road. This is particularly useful when drawing long straight paths along the road.

      In this course, data collection is conducted only on long straight trajectories, while constant velocity, velocity_on_curve, is maintained when driving on sections that include curves.

      The minimum length of these long straight trajectories can be specified using the parameter minimum_length_of_straight_line (These two parameters velocity_on_curve and minimum_length_of_straight_line can be configured in ./config/course_param/along_road_param.yaml).

      

How to Use

1. Launch Autoware.

    ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
    

1. Set an initial pose, see here.

2. Add the DataCollectingAreaSelectionTool and DataCollectingGoalPlugin RViz plugins by clicking the “+” icon at the top of the RViz window.
   

3. Launch control_data_collecting_tool.

    ros2 launch control_data_collecting_tool control_data_collecting_tool.launch.py map_path:=$HOME/autoware_map/sample-map-planning accel_brake_map_path:=/path/to/your/accel_brake_map_dir
    

- If you use the `along_road` course, please specify the same map for `map_path` as the one used when launching Autoware. `map_path` is not necessary when using courses other than `along_road`.

- If you set CONTROL_MODE to actuation_cmd or external_actuation_cmd, please specify the directory where the accel/brake maps used by your control system are located.

- Control data collecting tool automatically records topics included in `config/topics.yaml` when the above command is executed. Topics will be saved in rosbag2 format in the current directory.

- The data from `/localization/kinematic_state` and `/localization/acceleration` located in the directory (rosbag2 format) where the command is executed will be automatically loaded and reflected in the data count for these topics.
  (If `LOAD_ROSBAG2_FILES` in `config/param.yaml` is set to `false`, the data is not loaded.)

1. Add visualization in rviz:

   • /data_collecting_area
     • Type: Polygon
   • /data_collecting_trajectory_marker_array
     • Type: MarkerArray
   • /data_collecting_lookahead_marker_array
     • Type: MarkerArray

2. The following actions differ depending on the selected course. If you select the trajectory from [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle], please proceed to 6.1. If you select the trajectory from [along_road], please proceed to 6.2.

   • 6.1 If you choose the trajectory from [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle], select DataCollectingAreaSelectionTool plugin.

     

     Highlight the data collecting area by dragging the mouse over it.

     

     [!NOTE] You cannot change the data collecting area while driving.

   • 6.2 If you choose the trajectory from [along_road], select DataCollectingGoalPose plugin.

     

     By setting the pose of the goal point, a trajectory is generated on the map.

     

     As soon as the trajectory is generated, the plot with the map and trajectory drawn on it will be created (please see the following picture). In the sections labeled velocity = const (velocity_on_curve) in the legend, the vehicle travels at a constant velocity of velocity_on_curve. In the sections labeled Data collection is conducted, data collection is performed.

     

     [!NOTE] You cannot change the goal pose while driving. In cases where course generation fails, which can happen under certain conditions, please reposition the vehicle or redraw the goal pose.

3. The following actions differ depending on the CONTROL_MODE. If you select the control mode from [ acceleration_cmd], please proceed to 7.1. If you select the control mode from [actuation_cmd], please proceed to 7.2. If you select the control mode from [external_acceleration_cmd, external_actuation_cmd], please proceed to 7.3.

   • 7.1 If you choose the control mode from [ acceleration_cmd], click the LOCAL button in AutowareStatePanel.

     

     Then, data collecting starts.

     

     You can monitor the data collection status in real-time through the window that pops up when this node is launched. (From top to bottom: the speed-acceleration phase diagram, the speed-acceleration heatmap, the speed-steering angle heatmap, the speed-steer rate heatmap, and the speed-jerk heatmap.)

     

     For the speed-acceleration heatmap, speed-steering angle heatmap, and speed-steer rate heatmap, the collection range can be specified by the masks located in the folder config/masks/MASK_NAME where MASK_NAME is a parameter specifying mask name (Please also see config/common_param.yaml). The specified heatmap cells are designed to change from blue to green once a certain amount of data (VEL_ACC_THRESHOLD, VEL_STEER_THRESHOLD, VEL_ABS_STEER_RATE_THRESHOLD ) is collected. It is recommended to collect data until as many cells as possible turn green.

   • 7.2 If you choose the control mode from [actuation_cmd], click the LOCAL button in the AutowareStatePanel as described in Section 7.1.

     [NOTE] At this time, the control mode actuation_cmd is only implemented in the course reversal_loop_circle and cannot be used in other courses.

     This mode allows you to collect data on various accel and brake pedal inputs. To monitor the data collection status of accel/brake input, please use the functionality of autoware_accel_brake_map_calibrator.

   • 7.3 In the case you choose the control mode from [external_acceleration_cmd, external_actuation_cmd].

     • external_acceleration_cmd

       This mode enables the collection of constant acceleration data for both positive and negative acceleration scenarios.

       • Positive Acceleration Data Collection

         a. Start the Tool by using the following command

            ros2 run control_data_collecting_tool data_collecting_acceleration_cmd.py
            

      b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with positive acceleration data collection:

            Do you want to collect constant positive acceleration cmd data? (yes/no)
            

      c. Input Acceleration: When prompted, input the desired acceleration value:

            Target acceleration [0.0 ~ 2.0 m/s^2]
            

      d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel`  as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:

            Ready to drive? (yes/no)
            

      f. Execution and Recording: After 3-second counting, the vehicle accelerates to `TARGET_VELOCITY` specified in the configuration file. During this process, the following message is displayed:

            Accelerate with target_acceleration m/s^2
            

        A ROS bag file records all relevant topics during this session. The filename is generated as constant_acceleration_cmd_ACCEL_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:

            /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
            

      g. Deceleration Phase: After reaching `TARGET_VELOCITY`, the tool applies a deceleration using the TARGET_ACCELERATION_FOR_BRAKE parameter to bring the vehicle to a stop.

      h. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.

    - Negative Acceleration Data Collection

      a. Start the Tool by using the following command

            ros2 run control_data_collecting_tool data_collecting_acceleration_cmd
            

      b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with negative acceleration data collection (the following message will be displayed after answering `no` to `Do you want to collect constant positive acceleration cmd data? (yes/no)` in Positive Acceleration Data Collection):

            Do you want to collect constant negative acceleration cmd data? (yes/no)
            

      c. Input Acceleration: When prompted, input the desired acceleration value:

            Target acceleration [-5.0 ~ 0.0 m/s^2]
            

      d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel` as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:

            Ready to drive? (yes/no)
            

      e. Acceleration Phase: After 3-second counting, the vehicle accelerates to the `TARGET_VELOCITY` with TARGET_ACCELERATION_FOR_DRIVE before braking.

      f. Braking and Recording: Once `TARGET_VELOCITY` is achieved, the tool applies the braking command. During this process, you will see:

            Accelerate with target_acceleration m/s^2
            

        A ROS bag file records all relevant topics during this session. The filename is generated as constant_acceleration_cmd_BRAKE_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:

            /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
            

      g. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.

  - `external_actuation_cmd`

    This mode enables the collection of constant accel/brake pedal input data.

    - Accel Pedal Data Collection

      a. Start the tool by using the following command

            ros2 run control_data_collecting_tool data_collecting_actuation_cmd
            

      b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with positive acceleration data collection:

            Do you want to accel pedal input data? (yes/no)
            

      c. Input Accel Pedal input: When prompted, input the desired accel pedal input value:

            Target accel pedal input [0.0 ~ 0.5 ]
            

      d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel`  as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:

            Ready to drive? (yes/no)
            

      e. Execution and Recording: After 3-second counting, the vehicle accelerates to `TARGET_VELOCITY` specified in the configuration file. During this process, the following message is displayed:

            Actuate with accel pedal input: target_accel_pedal_input
            

        A ROS bag file records all relevant topics during this session. The filename is generated as constant_actuation_cmd_ACCEL_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:

            /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
            

      f. Deceleration Phase: After reaching `TARGET_VELOCITY`, the tool applies a deceleration using the TARGET_ACTUATION_FOR_BRAKE parameter to bring the vehicle to a stop.

      g. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.

    - Brake Pedal Data Collection

      a. Start the tool by using the following command

            ros2 run control_data_collecting_tool data_collecting_actuation_cmd
            

      b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with brake pedal input data collection (the following message will be displayed after answering `no` to `Do you want to accel pedal input data? (yes/no)` in Accel Pedal Data Collection):

            Do you want to brake pedal input data? (yes/no)
            

      c. Input Brake Pedal input: When prompted, input the desired brake pedal input value:

            Target brake pedal input [0.0 ~ 0.8 ]
            

      d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel` as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:

            Ready to drive? (yes/no)
            

      e. Acceleration Phase: After 3-second counting, the vehicle accelerates to the `TARGET_VELOCITY` with TARGET_ACTUATION_FOR_ACCEL before braking.

      f. Braking and Recording: Once `TARGET_VELOCITY` is achieved, the tool applies the braking command. During this process, you will see:

            Actuate with brake pedal input: target_brake_pedal_input
            

        A ROS bag file records all relevant topics during this session. The filename is generated as constant_actuation_cmd_ACCEL_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:

            /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
            

      g. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.

1. If you want to stop data collecting automatic driving, run the following command

    ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: true" --once
    

> [!NOTE]
> When the car crosses the green boundary line, a similar stopping procedure will be automatically triggered.

1. If you want to restart data collecting automatic driving, run the following command

    ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: false" --once
    

Specify data collection range

You can create an original mask to specify the data collection range for the heatmap explained in step 7 of the “How to Use” section.

1. Change the MASK_NAME parameter in config/common_param.yaml from its default value of default to any name you prefer.

2. Modify parameters such as VEL_ACC_THRESHOLD, VEL_STEER_THRESHOLD, and VEL_ABS_STEER_RATE_THRESHOLD to determine the desired amount of data for each cell in the speed-acceleration heatmap, speed-steering angle heatmap, and speed-steer rate heatmap.

3. In the scripts/masks directory, run

   python3 mask_selector.py
   

then, matplotlib windows for selecting the collection range of the speed-acceleration heatmap, speed-steering angle heatmap, and speed-steer rate heatmap will be displayed, one for each.

In these windows, you can modify the heatmaps by clicking or dragging within them. Once you’ve made your changes, pressing Ctrl+C in the terminal will automatically save the updated maps.

Afterward, rebuild the control_data_collecting_tool using the following command

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w" --symlink-install --continue-on-error --packages-up-to control_data_collecting_tool
   

and relaunch the control_data_collecting_tool with

   ros2 launch control_data_collecting_tool control_data_collecting_tool.launch.py map_path:=$HOME/autoware_map/sample-map-planning
   

This will allow you to see the selected mask applied.

Trajectory generation and data collection logic

• Data collection logic common to all courses

  In control_data_collection_tool, all courses collect velocity and acceleration data in a similar manner.

  By appropriately adjusting the target_velocity provided to the pure pursuit algorithm, speed and acceleration data are efficiently collected. Data collection consists of four phases: selection of target speed and acceleration, acceleration phase, constant speed phase, the deceleration phase. A general method for collecting speed and acceleration data is described below, though it does not strictly adhere to the outlined steps.

  1. Selection of target speed and acceleration

     In the speed-acceleration heatmap, the speed and acceleration with fewer data points are set as the target speed and acceleration, which are then defined here as target_velocity_on_section and target_acceleration_on_section.

  2. Acceleration phase The vehicle accelerates by setting target_velocity as follows until its speed exceeds target_velocity_on_section.

       # b is constant variable and sine_curve is derived from appropriate amplitude and period, defined separately
       target_velocity = current_velocity + abs(target_acceleration_on_section) / acc_kp * (b + sine_curve)
     

 `current_velocity` is a current velocity of vehicle and `acc_kp` accel command proportional gain in pure pursuit algorithm. `sine_curve` is a sine wave added to partially mitigate situations where the vehicle fails to achieve the target acceleration.

1. Constant speed phase When the vehicle reaches target_velocity_on_section, target_velocity is defined as follows to allow the vehicle to run around the target speed for a certain period of time.

       # b is constant variable and sine_curve is derived from appropriate amplitude and period, defined separately
       target_velocity = target_velocity_on_section + b + sine_curve
     

1. Deceleration phase In the deceleration phase, similar to the acceleration phase, target_velocity is defined as follows to ensure the vehicle decelerates.

       # b is constant variable and sine_curve is derived from appropriate amplitude and period, defined separately
       target_velocity = current_velocity - abs(target_acceleration_on_section) / acc_kp * (b + sine_curve)
     

 After decelerating to a sufficiently low speed, return to step i.

• Trajectory generation and data collection logic specific to reversal_loop_circle

  In the reversal_loop_circle course, sections are sequentially added to the course while collecting various data on speed, acceleration, and steering angle.

• Trajectory generation logic for reversal_loop_circle

  The reversal_loop_circle aims to generate a trajectory with the largest possible radius of curvature within a radius trajectory_radius, allowing data collection in a confined area without significantly reducing speed.

  The reversal_loop_circle is primarily generated by connecting the following three components, common tangent, circumscribing_circle and boundary as shown in the following picture.

  

  All the components listed below are available in both clockwise and counterclockwise versions. The rationale for having two versions is to ensure data collection for both right-hand drive and left-hand drive configurations.

  • common tangent

    The common tangent is generated by drawing a common tangent to two inscribed circles. In this section, a sine curve is added in the normal direction to generate a trajectory for collecting data with larger steering angles. The amplitude of the sine curve is determined based on the desired steering angle data.

    

    

  • circumscribing_circle

    The circumscribing_circle part is created by drawing the common circumscribed circle of the circles. This section is generated to achieve nearly straight movement within the outer circle while minimizing the increase in curvature.

    

    

  • boundary

    The boundary part is used to connect the common tangent and the circumscribing_circle sections.

    

    

• Velocity and steering angle data collection logic for reversal_loop_circle

  Speed and steering angle data are gathered in the common tangent section of the trajectory. The common tangent section is particularly effective for collecting steering angle data because a trajectory with minimal data is intentionally created by adding a sine wave of suitable amplitude to the curvature.

  The following two steps are taken to obtain steering angle data.

  1. Starting from the ego vehicle’s current position, the system examines a segment of the trajectory ahead, covering a distance defined by look_ahead_distance, to identify the point of maximum curvature.

  2. This maximum curvature determines the steering angle the vehicle will use. The vehicle then adjusts its speed toward the speed associated with the sparsest steering angle data.

  

Parameter

Common Parameters

ROS 2 parameters which are common in all trajectories (/config/common_param.yaml):

The following parameters are common to all trajectories but can be defined individually for each trajectory. (/config/course_param/COURSE_NAME_param.yaml):

Course-Specific Parameters

Each trajectory has specific ROS 2 parameters.

• COURSE_NAME: eight_course

• COURSE_NAME: u_shaped_return

• COURSE_NAME: straight_line_positive or COURSE_NAME: straight_line_negative

• COURSE_NAME: reversal_loop_circle

• COURSE_NAME: along_road

Parameters for data_collecting_acceleration_cmd.py and data_collecting_actuation_cmd.py

• data_collecting_acceleration_cmd.py

• data_collecting_actuation_cmd.py

Changelog for package control_data_collecting_tool

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0
• feat(control_data_collecting_tool): add constant acceleration/actuation mode (#185)
  • Add actuation mode
  • Temporarily added data_collecting_pure_pursuit_trajectory_follower.py
  • Remove data_collecting_pure_pursuit_trajectory_follower.py
  • Add constant cmd scripts
  • Add pedal threshold for data counting
  • pre-commit run
  • Add some comments
  • Update install programs
  • Update params
  • pre-commit run
  • Update README
  • The bullet points were changed from numbers to letters.
  • Update print message
  • Fix bug and typo
  • Update README
  • pre-commit run

  * Update control_data_collecting_tool/README.md ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

• feat(control_data_collecting_tool): improve README and a slight modification to the data collection logic (#179)
  • Improve README
  • Modify data collction logic
  • Final adjustment
  • Spelling correction
  • pre-commit run

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore: sync files (#11) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
• feat(control_data_collecting_tool): add masks to specify data collection range (#167)
  • Add trajectory inside circle
  • Fix bug
  • Add lanelet2 trajectory
  • pre-commit run
  • Fix bug
  • pre-commit
  • Update README.md
  • Add parameter descriptions to the README
  • style(pre-commit): autofix
  • Revise the content
  • style(pre-commit): autofix
  • Update README
  • Update README
  • Add comments
  • Update prameters for along_road course
  • style(pre-commit): autofix
  • Add default mask and mask selector
  • Add mask to plotter
  • Data collection concerning Mask
  • Modify the code to publish the pose
  • style(pre-commit): autofix
  • Modify to work even when map_path is not provided
  • Add steer rate plot
  • Update README.md and fix typo
  • Changes to the README and parameter values
  • fix markdownlint
  • ignore prettier
  • Fix typo
  • style(pre-commit): autofix
  • Add cpell:ignore
  • Remove cspell:ignore
  • Add jerk heatmap and update README
  • Fix bug
  • Fix bug
  • Update README
  • Run pre-commit
  • Update README
  • Modify README.md
  • Update README.md
  • style(pre-commit): autofix
  • Fix README.md
  • Renaming an argument

  * Add copyright ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>

• feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory (#156)
  • Add trajectory inside circle
  • Fix bug
  • Add lanelet2 trajectory
  • pre-commit run
  • Fix bug
  • pre-commit
  • Update README.md
  • Add parameter descriptions to the README
  • style(pre-commit): autofix
  • Revise the content
  • style(pre-commit): autofix
  • Update README
  • Update README
  • Add comments
  • Update prameters for along_road course
  • style(pre-commit): autofix
  • Add default mask and mask selector
  • Add mask to plotter
  • Data collection concerning Mask
  • Modify the code to publish the pose
  • style(pre-commit): autofix
  • Modify to work even when map_path is not provided
  • Add steer rate plot
  • Update README.md and fix typo
  • Changes to the README and parameter values
  • fix markdownlint
  • ignore prettier
  • Fix typo
  • style(pre-commit): autofix
  • Add cpell:ignore
  • Remove cspell:ignore
  • style(pre-commit): autofix

  * Revert "style(pre-commit): autofix" This reverts commit 1cdbd05c8a73620e0b7aeaed2fe683e6167d0ab5. * Revert "Merge branch 'feat/default_mask' into feat/trajectory_inside_circle_and_lanelet2_trajectory" This reverts commit d372051c793e1c5546e70e97066525c89b2918db, reversing changes made to 50f46bd1a6d87f8335fe4f95b1eb00f6a6c393fe. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>

• feat(control_data_collecting_tool): add safety measures and rosbag recording and loading (#134)
  • add safety measures
  • add rosbag2 recording and loading functionalities
  • slight modifications
  • revert unncessary chnages
  • add a flag to determin whether to load rosbag2 data or not
  • record rosbag only if operation_mode is 3
  • add some comments and made minor adjustments
  • style(pre-commit): autofix
  • Update control_data_collecting_tool/scripts/data_collecting_rosbag_record.py
  • fix typos
  • subscribe control_mode
  • fix typo

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

• feat(control_data_collecting_tool): improve [/data_collecting_trajectory_publisher]{.title-ref} (#126)
  • add data_collecting_plotter

  * add an arrow in the tangential direction ---------

• feat(data_collecting_tool): add multiple courses (#113)
  • add multiple courses
  • modify steer calculation
  • reformat file
  • add parameter file
  • modify parameter files and readme
  • modify readme
  • modification via pre-commit
  • modify params

  * Revert "modify params" This reverts commit 369fb1202ba1f5dd3b3ced24b633e8ac9654514c.

  • remove unnecesary comments

  * modify params ---------

• feat(data_collecting_tool): improve data collection logic (#108)
  • create data collection logic
  • remove an unnecessary comment
  • remove uncessary codes and fix some params
  • style(pre-commit): autofix
  • add u_shaped course and straight line
  • add backwards straight line
  • define parameters as global variables
  • style(pre-commit): autofix
  • revert_merge
  • style(pre-commit): autofix
  • apply pre-commit run
  • modify README
  • style(pre-commit): autofix

  * modify spell ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(data_collecting_tool): visualize collected acc and vel grid (#83)
  • feat(data_collecting_tool): visualize collected acc and vel grid
  • fix spell
  • fix import
  • add matplotlib depend
  • add dependency
  • update division

  * fix blinking grid ---------

• feat(control_data_collecting_tool): smoothing and bug fix (#79)
  • commit smoothing np.min
  • smoothing curvature
  • bug fixed
  • update smoothing curvature

  * run [pre-commit run -a]{.title-ref} ---------Co-authored-by: masayukiaino <<masayuki.aino@proxima-ai-tech.com>>

• feat(control_data_collecting_tool): add control_data_collecting_tool (#33)
  • Add control data collecting tool for learning-based control
  • Implement basic part
  • Disable data collection area selection during automatic driving
  • Remove unnecessary code
  • Add rviz_config for data collection
  • Update rviz_config for data collection
  • Changed to start driving by pressing LOCAL
  • Fix hard coding rviz config path when launching
  • Add a launch file in this package
  • Add missing changes
  • Claen up arguments to use rviz_config
  • Updated pre-commit-hooks-ros version from v0.8.0 to v0.9.0 (#24)
  • Add 8-figure target route
  • Avoid errors when data collecting area cannot be selected by clicking properly.
  • Change to launch another launch for data collection after launching the standard autoware_launch.
  • chore(tools): move system and evaluation tools to this repo from autoware.universe (#26)
  • chore(tools): move system tools

  * chore(evaluator): move evaluators ---------

  • update
  • update trajectory publisher
  • update
  • feat(driving_environment_analyzer): add rviz plugin (#23)
  • feat(driving_environment_analyzer): add rviz plugin

  * feat(driving_environment_analyzer): output csv file ---------

  • add naive pure pursuit
  • update
  • clean up naive pure pursuit
  • smoothing trajectory position
  • refactor
  • chore(rviz_plugin): move peripheral rviz plugin (#27)
  • feat: calibrator tier4 pkg name (#200)
  • feat: change names
  • feat: move pkg to common
  • feat: change pkg name

  * fix: library path (#225) Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>>

  • feat: add rviz plugin to publish and control the simulated clock (#349)
  • Add tier4_clock_rviz_plugin to publish&control the sim clock in rviz
  • Add step control
  • Fix precommit
  • Update documentation
  • Fix spellcheck
  • Update plugin description and icon
  • Rename package
  • Fix bug with long duration jumps (high speed + low rate)
  • ci: check include guard (#438)
  • ci: check include guard
  • apply pre-commit

  * Update .pre-commit-config.yaml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * fix: pre-commit Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

  • chore: sync files (#629)
  • chore: sync files

  * ci(pre-commit): autofix Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • style: fix format of package.xml (#844)
  • 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
  • chore: upgrade cmake_minimum_required to 3.14 (#856)
  • fix(accel_brake_map_calibrator): rviz panel type (#895)
  • fixed panel type
  • modified instruction for rosbag replay case
  • modified update_map_dir service name
  • feat: add manual controller (#989)
  • feat: add manual controller
  • ci(pre-commit): autofix
  • fix : typo
  • chore: minor update
  • chore : add minor update
  • docs: add image for readme
  • docs: update docs
  • ci(pre-commit): autofix
  • ci(pre-commit): autofix

  * Update common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> * Update common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(manual_controller): support backward driving (#1119)
  • feat(manual_controller): support backward driving
  • chore: unite variable
  • feat: add screen capture package (#1177)
  • feat: add screen capture package
  • feat: add state to current process
  • style: refactor codes
  • fix: time
  • feat: add mp4 writer and finalize folders
  • feat: add trigger by service
  • feat: update recorder
  • fix: change codec of mp4 to h264 (#1262)
  • feat: optimize screen capture panel (#1470)
  • feat: optimize screen capture panel
  • apply pre-commit
  • fix: remove unused check of rviz plugin version (#1474)
  • fix(rviz_plugin): fix screen capture plugin (#1492)
  • refactor(tier4_calibration_rviz_plugin): apply clang-tidy (#1596)
  • refactor(tier4_control_rviz_plugin): apply clang-tidy (#1597)
  • refactor(tier4_control_rviz_plugin): apply clang-tidy
  • revert: readability-identifier-naming
  • revert(tier4_calibration_rviz_plugin): readability-identifier-naming (#1618)
  • fix(tier4_screen_capture_rviz_plugin): fix release process to handle video writer correctly (#1622)
  • refactor(tier4_screen_capture_rviz_plugin):apply clang-tidy (#1649)
  • fix(tier4_screen_capture_rviz_plugin): fix spell check (#1790)
  • fix(tier4_screen_capture_rviz_plugin): fix spell check

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat: add rtc manager rviz plugin (#1936)
  • feat: add rtc manager rviz plugin
  • chore: cosmetic change
  • chore: remove indent
  • feat: add rtc safe unsafe color
  • fix: typo
  • chore: simplify layout
  • feat: update rtc panel
  • feat(rtc_manager_panel): add rtc all approval (#2009)
  • feat(rtc_manager_panel): add rtc all approval
  • chore: cosmetic change
  • fix: static cast

  * chore: update text Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>> * chore: update text Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>>

  • doc: update documents
  • doc: update

  * doc: small update Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>>

  • feat(rtc_manager_rviz_plugin): add_indivisual_exe (#2021)

  * feat(tier4_screen_capture_rviz_plugin): add prefix to video name (#2038) feat: add prefix

  • feat(tier4_debug_rviz_plugin): pie chart with float32 multi array stamped (#2055)
  • feat(tier4_debug_rviz_plugin): add ros2 pie chart with Float32MultiArrayStamped
  • update README.md
  • fix typo
  • fixed license
  • fix
  • removed unnecessary include
  • fix
  • fix
  • fix(tier4_control_rviz_plugin): add time stamp for control command (#2154)
  • fix(rtc_manager_rviz_plugin): size check (#2163)
  • feat(behavior_path_planner): external request lane change (#2442)

  * feature(behavior_path_planner): add external request lane change module feature(behavior_path_planner): fix for RTC feature(behavior_path_planner): fix decision logic feat(behavior_path_planner): fix behavior_path_planner_tree.xml feat(behavior_path_planner): fix for rebase feat(behavior_path_planner): output multiple candidate paths feat(behavior_path_planner): get path candidate in behavior tree manager feat(behavior_path_planner): fix for multiple candidate path feat(behavior_path_planner): separate external request lane change module feature(behavior_path_planner): add create publisher method feature(behavior_path_planner): move publishers to node feature(behavior_path_planner): remove unnecessary publisher feat(behavior_path_planner): move reset path candidate function to behavior tree manager feat(behavior_path_planner): add external request lane change path candidate publisher feat(behavior_path_planner): apply abort lane change

  • fix(behavior_path_planner): remove unnecessary change
  • feat(behavior_path_planner): fix getLaneChangePaths()
  • feat(behavior_path_planner): disable external request lane change in default tree
  • Update rtc_auto_mode_manager.param.yaml
  • fix(route_handler): remove redundant code
  • fix(behavior_path_planner): fix for turn signal
  • chore(rtc_manager_rviz_plugin): add code owner (#2792)
  • feat(rtc_manager_rviz_plugin): add the number of rtc status (#2791)
  • feat(rtc_manager_rviz_plugin): add the number of rtc status

  * chore: simplify layout ---------Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>>

  • feat(automatic_goal): add automatic goal rviz plugin (#3031)
  • add first version automatic_goal plugin
  • feat(automatic_goal): extract automatic_goal_sender, add logging achieved goals
  • doc(automatic_goal): append README
  • ref(automatic_goal): apply pre-commity, fix depend
  • fix(automatic_goal): fix warnings - treated as errors
  • ref(automatic_goal): add author, apply clang-tidy hints
  • ref(automatic_goal): add maintainer, change year
  • ref(automatic_goal): fix package.xml order
  • ref(automatic_goal): names, initializations, main except
  • fix(automatic_goal): change path home->tmp
  • fix(automatic_goal): fix bad string init, expand readme

  * fix(automatic_goal): fix name ---------

  • feat(rtc_manager_rviz_plugin): add avoidance by lc (#3118)
  • fix(tier4_screen_capture_rviz_plugin): fix extra/missing naming components (#3207)
  • chore: sync files (#3227)
  • chore: sync files

  * style(pre-commit): autofix ---------Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat: change external lane change rtc name (#3259)
  • feat: change external lane change rtc name

  * update config ---------

  • feat(behavior_velocity_planner::intersection): add occlusion detection feature (#3458)
  • migrated
  • WIP
  • IntersectionModuleManager own one rtc_interface for intersection_occlusion
  • divide occlusion safety and activated
  • fixed to update occlusion cooperate status at construction
  • fixed getOcclusionFirstStopSafety()
  • fixed not to show both intersection and intersection_occlusion after passed 1st stop line
  • fixed the intersection_occlusion/inersection stop position afte r CLEARED
  • if occlusion cleared when eog is before 1st stop line, set stop line to 1st stop line and clear prev_occlusion_stop_line_pose_
  • (misc) fix viz, sync param
  • fixed vehicle footprint offset calculation
  • add occcupancy_grid_map method/param var to launcher
  • migrated latest
  • use static pass judge line
  • removed some params
  • organized param
  • add occlusion enable flag
  • revert occupancy grid settings in this PR
  • remove comment
  • fixed pass judge line collision detection to original
  • style(pre-commit): autofix
  • use vehicle_length for static pass judge line

  * fixed virtual wall marker ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(rtc_manager_rviz_plugin): update panel visualization properly (#3517)
  • refactor(behavior_path_planner): rename pull_over to goal_planner (#3501)
  • 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>>

  • build(iron): remove rmw_qos_profile_t (#3809)
  • refactor(start_planner): rename pull out to start planner (#3908)
  • fix(accel_brake_map_calibrator_button_panel): fix calibration service name (#4539)
  • fix(accel_brake_map_calibrator_button_panel): fix calibration service name

  * misc

  • feat(rviz_plugin): add target object type display (#4855)
  • add common/tier4_target_object_type_rviz_plugin
  • fix format
  • update color
  • update
  • add readme

  * Update common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * remove unused depend ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • fix(rtc_manager_panel): fix panel chattering (#4988)
  • build(tier4_target_object_type_rviz_plugin): add missing cv_bridge dependency (#5000)
  • feat(logging_level_configure): add rviz plugin to change logging level (#5112)
  • feat(logging_level_configure): add rviz plugin to change logging level
  • change file names
  • move initialization code from constructor to onInitialize
  • add maintainer
  • add maintainer

  * fix include ---------

  • feat(logger_level_reconfigure_plugin): use node interface and some cosmetic updates (#5204)
  • use node service
  • enable yaml configuration
  • update yaml loading
  • make it scrollable
  • change function order
  • change color for level
  • fix depend

  * Update common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • refactor(lane_change): add debug log (#5308)
  • docs(logger_level_reconfigure): update readme (#5471)
  • feat(localization): enable logging_level_configure (#5487)
  • feat(localization): enable logging_level_configure
  • style(pre-commit): autofix
  • update logger config
  • fix pre-commit
  • add tier4_autoware_utils in dependency

  * add tier4_autoware_utils in dependency ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • Logger level update (#5494)
  • address ordering
  • add grouping

  * remove unused comment ---------

  • feat(logging_level_configure_rviz_plugin): add autoware_util logger button (#5666)
  • feat(logging_level_configure_rviz_plugin): add autoware_util logger button

  * add for control ---------

  • refactor(lane_change): standardizing lane change logger name (#5899)
  • feat(tier4_logging_level_configure_rviz_plugin): add goal/start planner (#5978)
  • chore: set log level of debug printing in rviz plugin to DEBUG (#5996)
  • feat(rviz_plugin): add string visualization plugin (#6100)
  • feat(tier4_automatic_goal_rviz_plugin): make it possible to register checkpoints (#6153)
  • chore(object_type_panel): update rosparam name config (#6347)
  • style(update): autoware tools icons (#6351)
  • fix(readme): add acknowledgement for material icons in tool plugins (#6354)
  • feat(mission_planner_rviz_plugin): create mission planner tool (#6362)
  • feat(mission_planner_rviz_plugin): create package
  • fix copyright
  • add interrupted state

  * use full license text instead of spdx ---------

  • fix(manual_controller): set PARK gear when going from reverse to drive (#6230)
  • feat(logger_level_configure): make it possible to change level of container logger (#6823)
  • feat(launch): add logging_demo::LoggerConfig into container
  • fix(logger_level_reconfigure_plugin): fix yaml

  * feat(logging_level_configure): add composable node --------- * revert: "feat(logger_level_configure): make it possible to change level of container logger (#6823)" (#6842) This reverts commit 9d045335d8e3763984bce8dea92f63de3423ebde.

  • docs(tier4_logging_level_configure_rviz_plugin): update document (#6720)
  • docs(tier4_logging_level_configure_rviz_plugin): update document
  • fix spell check

  * fix Warning ---------

  • refactor(bpp, avoidance): remove unnecessary verbose flag (#6822)
  • refactor(avoidance): logger small change

  * refactor(bpp): remove verbose flag ---------

  • feat(tier4_screen_capture_panel): add new service to capture screen shot (#6867)
  • feat(tier4_screen_capture_panel): add new service to capture screen shot

  * docs(tier4_screen_capture_rviz_plugin): update readme ---------

  • refactor(lane_change): fix logger (#6873)
  • fix(route_handler): add logger (#6888)
  • fix(route_handler): add logger

  * fix indent ---------

  • docs(tier4_simulated_clock_rviz_plugin): update how to use (#6914)
  • docs(tier4_simulated_clock_rviz_plugin): update how to use
  • fixed tabbed warning
  • fix warning not working

  * Fix bullet list ---------

  • refactor(bpp): path shifter clang tidy and logging level configuration (#6917)
  • fix(accel_brake_calibrator): fix to set service name and exception failure (#6973)
  • add service
  • fix exception
  • fix style
  • refactor(motion_utils): supress log message with rclcpp logging (#6955)
  • refactor(motion_utils): supress log message with rclcpp logging

  * remove std string ------------------Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]\@users.noreply.github.com> Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>> Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>> Co-authored-by: dmoszynski <<121798334+dmoszynski@users.noreply.github.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Mehmet Dogru <<48479081+mehmetdogru@users.noreply.github.com>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: Vincent Richard <<richard-v@macnica.co.jp>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Esteve Fernandez <<33620+esteve@users.noreply.github.com>> Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> Co-authored-by: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Co-authored-by: Khalil Selyan <<36904941+KhalilSelyan@users.noreply.github.com>>

  • update smoothing of start/end-point
  • Add simplified lateral acc limit
  • update debug plot
  • add gif
  • Update README.md
  • Update README.md
  • use ros param
  • ros param
  • update
  • update image
  • Update README.md
  • Add velocity noise
  • Update acc and steer noises
  • update rviz
  • update resource
  • Update README.md
  • Update README.md

  * Update control_data_collecting_tool/README.md Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • update readme

  * Update bag2lanelet/scripts/bag2map.py Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • modify sentence
  • chore(rtc_manager_panel): update module name (#29)
  • chore(rtc_manager_panel): update module name

  * chore(gitignore): remove py cache ---------

  • improve pure pursuit

  * Update control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • remove deprecated linearized pure pursuit
  • clean up traj pub
  • Reduce speed for large lateral error
  • Improve how to obtain the trajectory closest point
  • update readme
  • rename variables
  • compute trajectory only when receive data collecting area info
  • smoothing target yaw
  • add yaw error threshold
  • remove rviz config
  • renew png and gif
  • add arrow on png

  * feat(driving_environment_analyzer): remove dependency to autoware_auto_tf2 (#31) ---------Co-authored-by: SakodaShintaro <<rgbygscrsedppbwg@gmail.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]\@users.noreply.github.com> Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>> Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>> Co-authored-by: dmoszynski <<121798334+dmoszynski@users.noreply.github.com>> Co-authored-by: Mehmet Dogru <<48479081+mehmetdogru@users.noreply.github.com>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: Vincent Richard <<richard-v@macnica.co.jp>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Esteve Fernandez <<33620+esteve@users.noreply.github.com>> Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> Co-authored-by: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Co-authored-by: Khalil Selyan <<36904941+KhalilSelyan@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>

  • fix markdownlint in README
  • add maitainers
  • update msgs
  • add linearized pure pursuit control
  • change default params
  • add stop automatic driving
  • update control cmd limit
  • [bug fix] recompute trajectory when changing rosparam online
  • fix dead link
  • run pre-commit
  • fix spell

  * Update bag2lanelet/scripts/bag2map.py Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: SakodaShintaro <<rgbygscrsedppbwg@gmail.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]\@users.noreply.github.com> Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>> Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>> Co-authored-by: dmoszynski <<121798334+dmoszynski@users.noreply.github.com>> Co-authored-by: Mehmet Dogru <<48479081+mehmetdogru@users.noreply.github.com>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: Vincent Richard <<richard-v@macnica.co.jp>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Esteve Fernandez <<33620+esteve@users.noreply.github.com>> Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> Co-authored-by: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Co-authored-by: Khalil Selyan <<36904941+KhalilSelyan@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: masayukiaino <<101699734+masayukiaino@users.noreply.github.com>>

• Contributors: Asei Inoue, Kosuke Takeuchi, Toru Hishinuma, Yutaka Kondo, awf-autoware-bot[bot], yk1109