Decision Maker

Overview

This feature is experimental.</br> Autoware package that manages the Vehicle status, given Mission(waypoints) status, Behavior and Motion status. Each status is managed by state machine.

Vehicle

Mission

Behavior

Motion

Runtime Manager Parameters

Parameter|Type|Description –|—|– auto_mission_reload|Bool|(default: false)
If this is set true, decision maker automatically reloads mission as new mission after previous mission is completed. auto_engage|Bool|(default: false)
If this is set true, decision maker automatically engage immediately after ready to drive. auto_mission_change|Bool|(default: false)
If this is set true, decision maker automatically change the mission(waypoint) without state_cmd when new mission is loaded while driving. use_fms|Bool|(default: false)
This must be true in order to incoorporate with Autoware Management System disuse_vector_map|Bool|(default: false)
If set true, decision_maker will bypass loading a vector map on startup. num_of_steer_behind|Int|(default: 20)
lookup distance along waypoints to determine steering state(straight, turning right, or turning left) change_threshold_dist|Double|(default: 1)
This is relevent only if use_fms is true.
If the distance from vehicle to closest waypoint in the new mission is further than change_threshold_dist [m], mission change fails. change_threshold_angle|Double|(default:15)
This is relevent only if use_fms is true.
If the angle from vehicle to closest waypoint in the new mission is further than this change_threshold_dist [deg], mission change fails. time_to_avoidance|Double|(default: 3)
If the vehicle is stuck for time_to_avoidance seconds (e.g. due to obstacles), the state transits to from “Go” to “Avoidance”. goal_threshold_dist|Double|(default: 3)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than goal_threshold_dist [m] to the goal. goal_threshold_vel|Double|(default: 0.1)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than goal_threshold_vel [m/s] to be treated as goal arrival.

ROS Parameters

Parameter|Type|Description –|—|– state_vehicle_file_name|string|file that defines vehicle state transition state_mission_file_name|string|file that defines mission state transition state_behavior_file_name|string|file that defines behavior state transition state_motion_file_name|string|file that defines motion state transition stopline_reset_count|int|This parameter is used if the vehicle stops at the stop line and moves backward without crossing the stop line. When the vehicle moves backward by this count of the waypoints, the stop line is recognized again.

Subscribed topics

Topic|Type|Objective –|—|– /based/lane_waypoints_array|autoware_msgs/LaneArray|waypoints for the vehicle to follow. (e.g. waypoints given from waypoint_loader node) /change_flag|std_msgs/Int32|Vehicle will try to change lane if this flag is set. Publishes /lamp_cmd to change blinkers according to this flag. (0=straight, 1=right, 2=left) /closest_waypoint|std_msgs/Int32|Closest waypoint index in waypoints given by /based/lane_waypoints_array. /config/decision_maker|autoware_config_msgs::ConfigDecisionMaker|Parameters set from runtime manager /current_pose|geometry_msgs/PoseStamped|Current pose of vehicle /current_velocity|geometry_msgs/TwistStamped|Current velocity of vehicle /filtered_points|sensor_msgs/PointCloud2|Used to check if sensor data is ready. This is meant to give pointcloud data used for ndt_matching. /final_waypoints|autoware_msgs/Lane|resultant waypoints from planner nodes, e.g. from velocity_set node. /obstacle_waypoint|std_msgs/Int32|Obstacle waypoint index. Used in “Go” state. /state_cmd|std_msgs/String|Decision_maker will try to transit state according to the key given through this topic. /state/stop_order_wpidx|std_msgs/Int32|Vehicle will try to stop at this index of waypoint. Used in “OrderedStop” state. /vector_map_info/area|vector_map_msgs/AreaArray|Area information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/cross_road|vector_map_msgs/CrossRoadArray|Cross road information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/line|vector_map_msgs/LineArray|Line information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/point|vector_map_msgs/PointArray|Point information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
/vector_map_info/road_sign|vector_map_msgs/RoadSignArray|Road sign information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/stop_line|vector_map_msgs/StopLineArray|Stop line information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/vector|vector_map_msgs/VectorArray|Vector information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.

Published topics

Topic|Type|Objective –|—|– /decision_maker/available_transition|std_msgs/String|available transition from current state /decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText|Help message during operation /decision_maker/state|std_msgs/String|current state for “Vehicle”, “Mission”, and “Drive” state machine. /decision_maker/state_msg|autoware_msgs/State|current state for “Vehicle”, “Mission”, and “Drive” state machine with header. /lamp_cmd|autoware_msgs/LampCmd|blinker command to vehicle (0=straight, 1=right, 2=left) /lane_waypoints_array|autoware_msgs/LaneArray|waypoints passed down to following planners. (e.g. lane_rule) /light_color_managed|autoware_msgs/TrafficLight|meant to publish light_color status. Not implemented yet. /decision_maker/state_overlay|jsk_rviz_plugins/OverlayText|Current state as overlay_txt. /state/stopline_wpidx|std_msgs/Int32|Index of waypoint for the vehicle to stop. /decision_maker/target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. /stop_location|autoware_msgs/VehicleLocation|Feedback to fms on the /state_stop_order_wpidx topic. It contains the index that the vehicle will stop and the id of the lane_array that the vehicle is using at the time.

State Description

Vehicle States

State name|Required topic|Description|Implementation –|–|—|– Init|-|The parent state of the following states.|- SensorInit|/filtered_points|Waits until all sensors are ready.|Waits until /filtered_points is received unless wf_simulator node is launched.
LocalizationInit|/current_pose|Waits until localizer is ready | Waits until current_pose is converged. (i.e. ndt_matching is stable.) PlanningInit|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint. VehicleInit|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state. VehicleReady|-|Vehicle is ready to move.|Exits to VehicleEmergency when emergency key is given by state_cmd from other states, or if emergency_flag is set true by other states. BatteryCharging|-|Charging the battery|Waits until charging_end key by state_cmd from other nodes(e.g. by AMS). VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until return_from_emergency or return_to_ready key is by /state_cmd (e.g. by DecisionMakerPanel)

Mission States

State name|Required topic|Description|Implementation –|–|—|– MissionInit|-|Initialization state of Mission State Machine.|Throws state_mission_initialized key if use_fms is set false. WaitOrder|/based_lane_array|wayits until mission is given. | waits until base_lane_array is received. MissionCheck|/final_waypoints
/current_waypoint|Waits until all the planners are ready. |Waits until /final_waypoints (from planner nodes) and /current_waypoint are received. DriveReady|-|Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given. Driving|-|The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency. DrivingMissionChange|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible. MissionChangeSucceeded|-|New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_fms is set false. MissionChangeFailed|-|New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_fms is set false. MissionComplete|-|Vehicle has reached the goal.|If use_fms is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_fms is false, otherwise waits until goto_wait_order key is given by management system.

Behavior States

State name|Required topic|Description|Implementation –|–|—|– Stopping|-|Waits for engage button in DecisionMakerPanel to be pressed|Waits until operation_start key is given from Mission State Machine BehaviorEmergency|-|Vehicle is stopping due to emergency |publish /lamp_cmd to hazard blinkers Moving|-|Vehicle drives according to the waypoint|Throws on_lane_area key if the vehicle on lane area, otherwise, throws on_free_area key.(FreeArea has not supported yet) LaneArea|/final_waypoints|Vehicle is driving within lanes| Throws on_bus_stop key if waypoint state has bus stop event, otherwise, throws on_cruise key. Cruise|-|Vehicle Drives along the waypoint|Throws on_left_turn, on_right_turn, on_straight, lane_change_left, or lane_change_right key depending on waypoint state and change flags. Straight|-|Vehicle is driving along lane (i.e. not turning at intersection)| publish /lamp_cmd to clear blinkers LeftTurn|-|Vehicle is turning left at intersection. Change blinker to left. | Publish /lamp_cmd to change blinker. RightTurn|-|Vehicle is turning right at intersection. Change blinker to right. | Publish /lamp_cmd to change blinker. Back|-|Vehicle is moving backwards|Publish /lamp_cmd to clear blinkers LeftLaneChange|-|Vehicle is switching to left lane|publish /lamp_cmd to change blinker to left. CheckLeftLane|-|Check if it is safe to change lane to left|No implementation. ChangeToLeft|-|Change to left lane|No implementation. RightLaneChange|-|Vehicle is switching to right lane|publish /lamp_cmd to change blinker to right. CheckRightLane|-|Check if it is safe to change lane to left|No implementation. ChangeToRight|-|Change to left lane|No implementation. BusStop|-|Vehicle is approaching to bus stop(not supported yet)| No implementation. PullIn|-|Vehicle is pulling in to bus stop| publish /lamp_cmd to change blinker to left. PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right. FreeArea|-|Vehicle is driving in free space(e.g. parking area)(not supported yet)|No implementation. Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard.

Motion States

State name|Required topic|Description|Implementation –|–|—|– WaitDriveReady|-|Waits until vehicle setup is done|No implementation. WaitEngage|-|Waits for engage button in DecisionMakerPanel to be pressed|No implementation. MotionEmergency|-|Vehicle is stopping due to emergency |No implementation. Drive|/closest_waypoint </br> /final_waypoints|Vehicle drives according to the waypoint|mission_aborted key if waypoint is far from the vehicle.(i.e. vehicle moves out of the waypoint) Throws arrived_goal key if vehicle is near the end of the waypoints.
Go|-|Vehicle is moving|Throws found_stopline if stopline is nearby. Throws completely_stopped if vehicle stops due to obstacle. Wait|-|Vehilce is waiting (e.g. due to safety reason)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1. Stop|-|Vehicle stops in the middle of the waypoints|Throws found_stopline, found_reserved_stop, received_stop_order, clear key depending on waypoint state and /state/stop_order_wpidx topic. StopLine|/vector_map_info/stop_line|Vehicle is stopping due to stop line|Throws clear key after vehicle stops for 0.5 seconds. OrderedStop|/state/stop_order_wpidx|Vehicle is stopping at the index of required topic|Throws clear key if the topic was updated with an invalid index. The index from the vehicle position to the end of the waypoint is valid. This topic is valid after passing the MissionCheck state. ReservedStop|-|Vehicle is stopping at the waypoint which includs stop_flag is 2|Wait for clear key after the vehicle stops.

Basic Usage in Autoware

Preparations

• For state visualization, please add OverlayText type displays on rviz and select topics decision_maker/operator_help_text, decision_maker/state_overlay.
  

• For publish /state_cmd topic by buttons, plese add DecisionMakerPanel plugin from Panels -> Add New Panel on rviz.
  

Start Driving with simulation

1. Open run time manager and rviz
2. In Map tab, load Vector Map and TF files you use(Point Cloud is optional).
3. In Computing tab, launch Decision -> decision_maker(experimental) and check the state.
   The state at that time:

   Init
   SensorInit
   WaitVehicleReady
   Stopping
   WaitDriveReady

4. In Computing tab, click [app] next to Motion Planning -> waypoint_follower -> wf_simulator and set the value of accele_rate to 5, and launch Motion Planning -> waypoint_follower -> wf_simulator.
   Then the state changes:

   Init
   LocalizationInit
   WaitVehicleReady
   Stopping
   WaitDriveReady

5. In Computing tab, launch Localization -> autoware_connector -> vel_pose_connect with Simulation Mode option in [ app ], and publish /initialpose topic using 2D Pose Estimate tool in rviz.
   Then the state changes:

   VehicleReady
   WaitOrder
   Stopping
   WaitDriveReady

6. In Computing tab, click [app] next to Motion Planning -> waypoint_follower -> pure_pursuit and change setting from Dialog to Waypoint.
   And launch nodes below.
   Mission Planning -> lane_planner -> lane_rule
Mission Planning -> lane_planner -> lane_stop
Mission Planning -> lane_planner -> lane_select
Motion Planning -> waypoint_planner -> astar_avoid
Motion Planning -> waypoint_planner -> velocity_set
Motion Planning -> waypoint_follower -> pure_pursuit
Motion Planning -> waypoint_follower -> twist_filter
7. In Computing tab, launch Motion Planning -> waypoint_maker -> waypoint_loader with waypoint file(s) you want to use.
   Then the state changes:

   VehicleReady
   DriveReady
   Stopping
   WaitEngage

If the state is MissionCheck instead of DriveReady, please set the position near the waypoint by 2D Pose Estimate tool.

1. Push Engage button in DecisionMakerPanel.
   The vehicle start to drive, and the state changes as follows for example:

   VehicleReady
   Driving
   Moving
   LaneArea
   Cruise
   Straight
   Drive
   Go

Stop line function

There are two ways to enable stop line function as follows.

Use waypoint flag

1. Open waypoint file and modify stop_flag column of index that you want to stop.
   Details of stop_flag’s value:

0: None
1: Stopline(automatically resume driving after stop)
2: Stop(stop only, wait for command)

Example image:

1. Start driving with the modified waypoint file.

Use vector map

The stopline, roadsign and the vector map files that accompany them are required.

1. Open stopline file and change the value of SignID column that you want to stop to the roadsign’s ID to be linked.

2. Open the roadsign file and change the value in the Type column for the ID linked in the previous step. Details of the Type are same as stop_flag.
   Example image:
   

3. Start driving with the modified vector map.

Publish topic

You need to know in advance the index of the waypoint you want to stop. The index is gid of waypoint.

1. Publish state/stop_order_wpidx topic with the index you want to stop.
2. After the vehicle has stopped, publish /state_cmd topic with clear key and then the vehicle will resume driving.

Lane change

1. Start driving with waypoint files necessary for lane change
2. On CheckLeft or RightLane state, push Execute LaneChange button on DecisionMakerPannel
3. The vehicle start lane change

Driving mission change

1. Prepare waypoint files to change, and start Normal driving
2. On Driving state, push Request mission change button on DecisionMakerPannel
3. When the state becomes DrivingMissionChange, please load another waypoint for change
4. If it is possible to change the waypoint will switch, otherwise it will not be changed

Changelog for package decision_maker

1.11.0 (2019-03-21)

• [Feature] Rebuild decision maker (#1609)
• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Cleanup WaypointState.msg and add sttering_state=STR_BACK (#1822)
• Contributors: Abraham Monrroy Cano, Kenji Funaoka, amc-nu, s-azumi

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Contributors: Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• Moved configuration messages to autoware_config_msgs
• [fix] PascalCase messages (#1408)
  • Switch message files to pascal case
  • Switch message names to pascal case in Runtime Manager
  • Switch message names to pascal case in *.yaml
  • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
• Contributors: Esteve Fernandez

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Fix build failures on Aarch64 Following issues are detected and fixed while building Autoware on Aarch64 host:
  1. FLOAT = abs(FLOAT) doesn't really makes sense. Hence modify that to use std::abs.
  2. Include <numeric> header for using accumulate API.

  3. Include <boost/format.hpp> header for using boost format API's. Signed-off-by: Manivannan Sadhasivam <<manivannan.sadhasivam@linaro.org>>

• [fix] Fixes for all packages and dependencies (#1240)
  • Initial Cleanup
  • fixed also for indigo
  • kf cjeck
  • Fix road wizard
  • Added travis ci
  • Trigger CI
  • Fixes to cv_tracker and lidar_tracker cmake
  • Fix kitti player dependencies
  • Removed unnecessary dependencies
  • messages fixing for can
  • Update build script travis
  • Travis Path
  • Travis Paths fix
  • Travis test
  • Eigen checks
  • removed unnecessary dependencies
  • Eigen Detection
  • Job number reduced
  • Eigen3 more fixes
  • More Eigen3
  • Even more Eigen
  • find package cmake modules included
  • More fixes to cmake modules
  • Removed non ros dependency
  • Enable industrial_ci for indidog and kinetic
  • Wrong install command
  • fix rviz_plugin install
  • FastVirtualScan fix
  • Fix Qt5 Fastvirtualscan
  • Fixed qt5 system dependencies for rosdep
  • NDT TKU Fix catkin not pacakged
  • More in detail dependencies fixes for more packages
  • GLEW library for ORB
  • Ignore OrbLocalizer
  • Ignore Version checker
  • Fix for driveworks interface
  • driveworks not catkinpackagedd
  • Missing catkin for driveworks
  • libdpm opencv not catkin packaged
  • catkin lib gnss not included in obj_db
  • Points2Polygon fix
  • More missing dependencies
  • image viewer not packaged
  • Fixed SSH2 detection, added viewers for all distros
  • Fix gnss localizer incorrect dependency config
  • Fixes to multiple packages dependencies
  • gnss plib and package
  • More fixes to gnss
  • gnss dependencies for gnss_loclaizer
  • Missing gnss dependency for gnss on localizer

  * More fixes for dependencies Replaced gnss for autoware_gnss_library

  • gnss more fixes
  • fixes to more dependencies
  • header dependency
  • Debug message
  • more debug messages changed back to gnss
  • debud messages
  • gnss test
  • gnss install command
  • Several fixes for OpenPlanner and its lbiraries
  • Fixes to ROSInterface
  • More fixes to robotsdk and rosinterface
  • robotsdk calibration fix
  • Fixes to rosinterface robotsdk libraries and its nodes
  • Fixes to Qt5 missing dependencies in robotsdk
  • glviewer missing dependencies
  • Missing qt specific config cmake for robotsdk
  • disable cv_tracker
  • Fix to open planner un needed dependendecies
  • Fixes for libraries indecision maker
  • Fixes to libraries decision_maker installation
  • Gazebo on Kinetic
  • Added Missing library
  • • Removed Gazebo and synchonization packages
  • Renames vmap in lane_planner
  • Added installation commands for missing pakcages
  • Fixes to lane_planner
  • Added NDT TKU Glut extra dependencies

  * ndt localizer/lib fast pcl fixes re enable cv_tracker

  • Fix kf_lib
  • Keep industrial_ci
  • Fixes for dpm library
  • Fusion lib fixed
  • dpm and fusion header should match exported project name
  • Fixes to dpm_ocv ndt_localizer and pcl_omp
  • no fast_pcl anymore
  • fixes to libdpm and its package
  • CI test
  • test with native travis ci
  • missing update for apt
  • Fixes to pcl_omp installation and headers
  • Final fixes for tests, modified README
  • • Fixes to README
  • Enable industrial_ci
  • re enable native travis tests
• Fix/cmake cleanup (#1156)
  • Initial Cleanup
  • fixed also for indigo
  • kf cjeck
  • Fix road wizard
  • Added travis ci
  • Trigger CI
  • Fixes to cv_tracker and lidar_tracker cmake
  • Fix kitti player dependencies
  • Removed unnecessary dependencies
  • messages fixing for can
  • Update build script travis
  • Travis Path
  • Travis Paths fix
  • Travis test
  • Eigen checks
  • removed unnecessary dependencies
  • Eigen Detection
  • Job number reduced
  • Eigen3 more fixes
  • More Eigen3
  • Even more Eigen
  • find package cmake modules included
  • More fixes to cmake modules
  • Removed non ros dependency
  • Enable industrial_ci for indidog and kinetic
  • Wrong install command
  • fix rviz_plugin install
  • FastVirtualScan fix
  • Fix Qt5 Fastvirtualscan
  • Fixed qt5 system dependencies for rosdep
  • NDT TKU Fix catkin not pacakged
  • Fixes from industrial_ci
• Suppress compile error I encounterd compile error like following: ` Autoware/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp:86:28: error: ‘accumulate’ is not a member of ‘std’` And this can be avoided by this modification.
• fix a merging miss
• fix a typo
• parametrize detection area
• code formatting
• fix stopstate to track update of stopline
• remove a unused line
• add to out for stopline_state
• VelocitySet support to stop by stopline
• fix a out of range
• R.I.P
• change to apply ratio to stopline target
• add ratio for stopline target
• increase spinner thread, and apply clang-format
• Add a transition to stopstate to re-start only manually
• Add new feature that use object detection for stopline state
• R.I.P.
• fix a duplicate state update
• stop light_color publish every state update
• fix a judge intersect stopline
• add new state for lanechange
• add new state for all stopline pause
• fix a build bug
• fix a build bug
• fix a state num name
• fix a state num name
• add support to manual fixing light
• fix a lane_change loop
• change a exploring way for lamp
• fix a importing vectormap
• Contributors: Abraham Monrroy, Dejan Pangercic, Kosuke Murakami, Manato Hirabayashi, Manivannan Sadhasivam, Yusuke FUJII

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Prepare release for 1.6.0
• R.I.P.
• fix a duplicate state update
• stop light_color publish every state update
• add new state for lanechange
• fix a judge intersect stopline
• add new state for all stopline pause
• fix a build bug
• fix a build bug
• fix a state num name
• fix a state num name
• add support to manual fixing light
• fix a moving state
• fix a variable declaration was not enough.
• Add author tag
• Checked coding by cppcheck and apply clang-format
• Add new state - TrafficLight State (it will be planning to change "behavior" to another category)
  • Crawl(slow speed)
• Add to support multiple lane shift
• Remove debug code and apply clang format
• Fixed:
  • callback

  - laneshift Added:

  • publisher for laneid
  • new lanechange flag
  • new param for decisionMaker
• cosme
• add shifted lanes
• add simple obstacle avoid based shifting lane
• Fix not working changed callback

• put_litter_in_its_place

• add to insert shift lane
• delete build warning, and change stopline
• update state and remove detection state
• fix a build error
• fix a judge left/right
• Fix a state changing bug
• add support to stopline
• Add feature of to find stopline. and following minor fixes
  • to change vectormap operation to vectormap lib.
  • to change state operation
• refactor lamp control
• apply clang-format
• Support to lanechange similar to state_machine(old) package
• Add support to switch on/off directional indicator
• remove unnecessary code from decisionmaker
• add support to waypoint velocity control by state
• add mps2kmph
• update decisionmaker and related library
  • add multiplelane path recognition
  • renamed euc
• Changed path state recognition to the way based on /lane_waypoints_array
• improve a judge algorithms for right/left-turn in intersection
• Add to support manually decision
• Contributors: Yamato ANDO, Yusuke FUJII

1.5.1 (2017-09-25)

• Release/1.5.1 (#816)
  • fix a build error by gcc version
  • fix build error for older indigo version
  • update changelog for v1.5.1
  • 1.5.1
• Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

• Update changelog
• Add build option
• apply clang-format
• update decision maker config
• Add to support dynamical parameter for decision_maker
• Add build flags
• fixed launch file for planner selector
• Fix a build error for decision maker node
• Move the decision part of the state machine library to decision_Maker node. This is WIP.
• fix a header dependencies and remove unnecessary part
• Change file composition
• Add publisher for target velocities
• Removed dynamic reconfigure
• Fixed forgetting to rename(state_machine node to decision_maker node)
• integrate planner_selector package to decision_maker package
• Add decision packages into runtime_manager
• apply clang-format
• organize package files and directories
• Add a decision_maker package The decision_maker package determines the intention of what actions the local planner and control node should take based on perception nodes, global planner nodes, map data, sensor data. This commit corresponds only to the following functions.
  • Behavior state recognition
  • Dynamic selection of local planner (It is necessary to change the topic name of local planner)
• Contributors: Yusuke FUJII

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)