diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6397141844469..6e83e2b52fdbe 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,5 +1,5 @@ ### Automatically generated from package.xml ### -common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp +common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp @@ -17,9 +17,12 @@ common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp common/autoware_polar_grid/** yukihiro.saito@tier4.jp +common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_trajectory_container/** yukinari.hisaki.2@tier4.jp takayuki.murooka@tier4.jp mamoru.sobue@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp @@ -27,7 +30,6 @@ common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.j common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp -common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp @@ -38,12 +40,10 @@ common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khal common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp -common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp -common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp -control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp +control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -63,7 +63,7 @@ control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp -evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp +evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp @@ -105,7 +105,7 @@ map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakam perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -135,13 +135,13 @@ perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp -perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp perception/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @@ -199,6 +199,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4. planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp +sensing/autoware_cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp sensing/autoware_gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp @@ -209,7 +210,6 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -sensing/cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index e0748f1113db6..e70d3daf88509 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -38,7 +38,7 @@ files: - source: .github/workflows/clang-tidy-differential.yaml pre-commands: | - sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source} + sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {source} - source: .github/workflows/check-build-depends.yaml - source: .github/workflows/clang-tidy-pr-comments.yaml - source: .github/workflows/clang-tidy-pr-comments-manually.yaml diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml index 8b4c2e135e761..5e15675bece04 100644 --- a/.github/workflows/build-and-test-daily-arm64.yaml +++ b/.github/workflows/build-and-test-daily-arm64.yaml @@ -23,7 +23,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml index 66275444482b5..63822f8b1e093 100644 --- a/.github/workflows/build-and-test-daily.yaml +++ b/.github/workflows/build-and-test-daily.yaml @@ -19,7 +19,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index 40d7a8846d13b..bc6fe11c85bfa 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -33,7 +33,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Set PR fetch depth diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 30619f7ef5aff..c824bb94b2a6c 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -42,7 +42,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos - container-suffix: -cuda runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large @@ -76,7 +76,7 @@ jobs: clang-tidy-differential: needs: build-and-test-differential runs-on: ubuntu-22.04 - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index a79bb60fa2929..3ffa5ebdbd29d 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -27,7 +27,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/codecov.yaml b/codecov.yaml index 4c989445a9f54..89b40a063b0ed 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -117,6 +117,7 @@ component_management: # - control/control_performance_analysis/** - control/obstacle_collision_checker/** # - control/predicted_path_checker/** + - control/autoware_collision_detector/** - component_id: localization-tier-iv-maintained-packages name: Localization TIER IV Maintained Packages @@ -215,7 +216,7 @@ component_management: - planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_planner_common/** - planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** - - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** + # - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** - planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** # - planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** @@ -245,3 +246,5 @@ component_management: - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** + #### sampling_based_planner + - planning/sampling_based_planner/autoware_bezier_sampler/** diff --git a/common/.pages b/common/.pages index 60453f2294f27..64d2223329a10 100644 --- a/common/.pages +++ b/common/.pages @@ -9,31 +9,27 @@ nav: - 'comparisons': common/autoware_auto_common/design/comparisons - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - - 'Geography Utils': common/geography_utils + - 'Geography Utils': common/autoware_geography_utils - 'Global Parameter Loader': common/global_parameter_loader/Readme - 'Glog Component': common/glog_component - - 'interpolation': common/interpolation - - 'Kalman Filter': common/kalman_filter + - 'interpolation': common/autoware_interpolation + - 'Kalman Filter': common/autoware_kalman_filter - 'Motion Utils': common/autoware_motion_utils - 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle - - 'Object Recognition Utils': common/object_recognition_utils - - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design - - 'Perception Utils': common/perception_utils - - 'QP Interface': common/qp_interface/design/qp_interface-design + - 'Object Recognition Utils': common/autoware_object_recognition_utils + - 'OSQP Interface': common/autoware_osqp_interface/design/osqp_interface-design + - 'QP Interface': common/autoware_qp_interface/design/qp_interface-design - 'Signal Processing': - - 'Introduction': common/signal_processing - - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter + - 'Introduction': common/autoware_signal_processing + - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter - 'autoware_universe_utils': common/autoware_universe_utils - 'traffic_light_utils': common/traffic_light_utils - - 'TVM Utility': - - 'Introduction': common/tvm_utility - - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests - 'RVIZ2 Plugins': - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin - - 'polar_grid': common/polar_grid/Readme + - 'polar_grid': common/autoware_polar_grid/Readme - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin - 'tier4_api_utils': common/tier4_api_utils - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin @@ -46,10 +42,10 @@ nav: - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme - 'Node': - - 'Goal Distance Calculator': common/goal_distance_calculator/Readme + - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme - 'Others': - - 'autoware_ad_api_specs': common/autoware_ad_api_specs - - 'component_interface_specs': common/component_interface_specs - - 'component_interface_tools': common/component_interface_tools - - 'component_interface_utils': common/component_interface_utils + - 'autoware_adapi_specs': common/autoware_adapi_specs + - 'autoware_component_interface_specs': common/autoware_component_interface_specs + - 'autoware_component_interface_tools': common/autoware_component_interface_tools + - 'autoware_component_interface_utils': common/autoware_component_interface_utils diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst new file mode 100644 index 0000000000000..f94b51d97f949 --- /dev/null +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -0,0 +1,129 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_ad_api_specs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: adapi vehicle topic qos (`#7847 `_) +* feat(default_ad_api): add heratbeat api (`#6969 `_) + * feat(default_ad_api): add heratbeat api + * fix node dying + --------- +* Contributors: Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(default_ad_api): add door api (`#5737 `_) +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* feat(default_ad_api): add object recognition api (`#2887 `_) + * add object recognition api + * add unorder map + * pre-commit + * add missing time_span + * change naming + * update message + * change style + * change topic naming + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* docs: add readme for interface packages (`#4235 `_) + add readme for interface packages +* feat: add vehicle status api (`#2930 `_) + * add vehicle status api + * update msgs + * change naming + * ada none + * change naming + * add publish geoposition + * add door status + * change variable naming + * change variable naming + * update license + * fix gps convert + * add support for UTM reverse + * fix naming + * update naming + * fix naming + * remote door status + * clean up vehicle.hpp + * fix missing declare + * move convert to cpp + * move convert to timer callback + * set to nan when no projector info + * added checking message valid + * fix msgs + --------- +* feat(default_ad_api): add vehicle info api (`#2984 `_) + * feat(default_ad_api): add vehicle dimensions api + * feat: add footprint + * update api name + --------- +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) + fix depth +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , 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 +* chore: update codeowners (`#3513 `_) +* feat(default_ad_api): add route change api (`#3197 `_) + * feat: add route change api + * fix: reroute + --------- +* feat(default_ad_api): add planning api (`#2481 `_) + * feat(default_ad_api): add planning api + * feat: complement velocity factor + * feat: add stop check + * feat: make the same process into a function + * feat: update visualizer + * fix: remove flake8 test +* chore: add api maintainers (`#2361 `_) +* feat(default_ad_api): add fail-safe api (`#2295 `_) +* feat(default_ad_api): add motion api (`#1809 `_) + * feat(autoware_ad_api_specs): define motion interface + * feat(default_ad_api): add motion api + * feat: modify motion api + * feat: modify motion api + * feat: add error code + * feat: move adapi messages + * feat: update message type + * feat(component_interface_utils): apply message change + * feat: apply status type change + * feat: change message type + * feat: change message name + * fix: fix state + * feat: add option + * feat: modify state name + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(autoware_ad_api_specs): define operation mode interface (`#1570 `_) + * feat(autoware_ad_api_msgs): define operation mode interface + * fix: add message + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat: move adapi message + * feat: change message type + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(autoware_ad_api_specs): define motion interface (`#1808 `_) + * feat(autoware_ad_api_specs): define motion interface + * feat: add error code + * feat: move adapi messages + * feat(component_interface_utils): apply message change + * feat: change message type +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define localization interface (`#1560 `_) + feat(autoware_ad_api_msgs): define localization interface +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) + * feat(autoware_ad_api_msgs): define routing interface + * feat: rename route body message + * feat: rename route state +* feat(autoware_ad_api_specs): modify interface version api to use spec package (`#1677 `_) +* Contributors: Kah Hooi Tan, Takagi, Isamu, Vincent Richard, yabuta diff --git a/common/autoware_ad_api_specs/CMakeLists.txt b/common/autoware_adapi_specs/CMakeLists.txt similarity index 79% rename from common/autoware_ad_api_specs/CMakeLists.txt rename to common/autoware_adapi_specs/CMakeLists.txt index 5f02e45a9c6b2..62eced4c76c93 100644 --- a/common/autoware_ad_api_specs/CMakeLists.txt +++ b/common/autoware_adapi_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware_ad_api_specs) +project(autoware_adapi_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/autoware_ad_api_specs/README.md b/common/autoware_adapi_specs/README.md similarity index 100% rename from common/autoware_ad_api_specs/README.md rename to common/autoware_adapi_specs/README.md diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp index 9b46feba47f11..d9366e567ed90 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ -#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ +#define AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ #include #include -namespace autoware_ad_api::fail_safe +namespace autoware::adapi_specs::fail_safe { struct MrmState @@ -31,6 +31,6 @@ struct MrmState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::fail_safe +} // namespace autoware::adapi_specs::fail_safe -#endif // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp similarity index 77% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp index 95dca9671e768..8c94569ab8063 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ -#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ +#define AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ #include -namespace autoware_ad_api::interface +namespace autoware::adapi_specs::interface { struct Version @@ -26,6 +26,6 @@ struct Version static constexpr char name[] = "/api/interface/version"; }; -} // namespace autoware_ad_api::interface +} // namespace autoware::adapi_specs::interface -#endif // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp index 634713845868b..92198128c5d96 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ -#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ #include #include #include -namespace autoware_ad_api::localization +namespace autoware::adapi_specs::localization { struct Initialize @@ -38,6 +38,6 @@ struct InitializationState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::localization +} // namespace autoware::adapi_specs::localization -#endif // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp index 041baa9a67051..5e40b7c5bda3a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_ -#define AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__MOTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__MOTION_HPP_ #include #include #include -namespace autoware_ad_api::motion +namespace autoware::adapi_specs::motion { struct AcceptStart @@ -38,6 +38,6 @@ struct State static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::motion +} // namespace autoware::adapi_specs::motion -#endif // AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__MOTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp similarity index 89% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp index f52b66cc88d2a..81f63ef63b5e0 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ -#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ +#define AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ #include #include #include -namespace autoware_ad_api::operation_mode +namespace autoware::adapi_specs::operation_mode { struct ChangeToStop @@ -68,6 +68,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::operation_mode +} // namespace autoware::adapi_specs::operation_mode -#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp index 5711c9a86d12a..80f876cdd588f 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ -#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ #include #include -namespace autoware_ad_api::perception +namespace autoware::adapi_specs::perception { struct DynamicObjectArray @@ -31,6 +31,6 @@ struct DynamicObjectArray static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::perception +} // namespace autoware::adapi_specs::perception -#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp similarity index 86% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp index 4d4530dc38b75..246cd92d94385 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_ -#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ +#define AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ #include #include #include -namespace autoware_ad_api::planning +namespace autoware::adapi_specs::planning { struct VelocityFactors @@ -41,6 +41,6 @@ struct SteeringFactors static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::planning +} // namespace autoware::adapi_specs::planning -#endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp index 1e119bc36e9b7..4988a82bb9ad2 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_ -#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ +#define AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace autoware_ad_api::routing +namespace autoware::adapi_specs::routing { struct SetRoutePoints @@ -74,6 +74,6 @@ struct Route static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::routing +} // namespace autoware::adapi_specs::routing -#endif // AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp similarity index 82% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp index 09144c1d8ff50..06e039174a3c5 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ -#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ +#define AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ #include #include -namespace autoware_ad_api::system +namespace autoware::adapi_specs::system { struct Heartbeat @@ -31,6 +31,6 @@ struct Heartbeat static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::system +} // namespace autoware::adapi_specs::system -#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp index e1220bf2c5879..a7568d54b5e1a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ -#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ +#define AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace autoware_ad_api::vehicle +namespace autoware::adapi_specs::vehicle { struct VehicleKinematics @@ -72,6 +72,6 @@ struct DoorStatus static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::vehicle +} // namespace autoware::adapi_specs::vehicle -#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_adapi_specs/package.xml similarity index 83% rename from common/autoware_ad_api_specs/package.xml rename to common/autoware_adapi_specs/package.xml index 0d14ccff758b0..a949084dd8789 100644 --- a/common/autoware_ad_api_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -1,9 +1,9 @@ - autoware_ad_api_specs - 0.0.0 - The autoware_ad_api_specs package + autoware_adapi_specs + 0.38.0 + The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst new file mode 100644 index 0000000000000..271ecb7badb38 --- /dev/null +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -0,0 +1,934 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_auto_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_auto_common): fix cppcheck warnings of functionStatic (`#8265 `_) + fix: deal with functionStatic warnings +* fix(autoware_auto_common): nullptr_t (`#7212 `_) +* fix: do not use c++20 char8_t keyword (`#3629 `_) + fix: do not use c++20 keyword as a type alias +* Contributors: Shumpei Wakabayashi, Yutaka Kondo, ralwing, taisa1 + +0.26.0 (2024-04-03) +------------------- +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) + * fix(autoware_auto_common): move headers to a separate directory + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add maintainer (`#4234 `_) + * chore: add maintainer + * Update evaluator/localization_evaluator/package.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * 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 +* chore(typo): eliminate typos (`#2216 `_) + * Replace 'asssert' with 'assert' + * fix(typo): computationall => computational + * fix(typo): collinearity => collinearity + * fix(typo): hypothenus => hypotenuse + * fix(typo): numbef => number + * fix(typo): missmatched => mismatched + * fix(typo): minimun => minimum + * fix(typo): neighbore => neighbor + * fix(typo): neighbour => neighbor + * fix(typo): propery => properly + * ci(pre-commit): autofix + * fix(typo): reagion => region + * 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 + * fix(typo): undderlying => underlying + * fix(typo): expicitly => explicitly + * fix(typo): paremterized => parameterized + * fix(typo): thier => their + * fix(typo): simualtor => simulator + * fix(typo): modifiy => modify + * fix(typo): neccessary => necessary + * fix(typo): travelled => traveled + * fix(typo): heursitic => heuristic + * fix(typo): chagne => change + * fix(typo): waypints => waypoints + * fix(typo): unknwon => unknown + * fix(typo): true => true + * fix(typo): approximiate => approximate + * fix(typo): analitically => analytically + * fix(typo): modify url including typo in original url + * fix(typo): computationall => computational + * 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 + * 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 + 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 + Co-authored-by: Muhammad Zulfaqar Azmi + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9183c4f20eb4592ed0b48c2eac67add070711677 + Author: Takamasa Horibe + 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 + 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 + 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 + 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 + 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 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 + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 + Author: Kosuke Takeuchi + 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 + 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` to `check_external_emergency_heartbeat` (`#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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 +* revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (`#2317 `_) + Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_)" + This reverts commit ef7dcda087beffaa0acf35e9647be1cb439007ba. +* feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs: update link style + * chore: fix link + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * fixed panel type + * modified instruction for rosbag replay case + * modified update_map_dir service name + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * skipping emplace back stop reason if it is empty + * add braces + * ci(pre-commit): autofix + 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> + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): Weakened noise filtering of drivable area + * fix lanelet's longitudinal disconnection + * add comments of erode/dilate process + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs + * for clang + * feat(pose_initializer): introduce an array copy function (`#900 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes + * feat(default_ad_api): apply the changes of interface utils + * fix(component_interface_utils): remove old comment + * fix(component_interface_utils): add client log + * fix(component_interface_utils): remove unimplemented message + * docs(component_interface_utils): add design policy + * docs(component_interface_utils): add comment + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + Co-authored-by: Berkay + * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries + * fix: start_bound + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy + * Use std::string constructor to copy char array + * Fixed typo + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix: extend following and previous search range to avoid no collision + * chore: add debug marker + * fix: simplify logic + * chore: update debug code + * fix: delete space + * fix: some fix + * ci(pre-commit): autofix + * fix: delete debug code + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround_obstacle_checker): update pub/sub topics & params + * docs(surround_obstacle_checker): remove unused files + * docs(surround_obstacke_checker): update purpose + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker + * fix(tier4_autoware_utils): use absolute value + * feat(tier4_autoware_utils): divide into two classies + * test(tier4_autoware_utils): add unit test for vehicle_state checker + * fix(tier4_autoware_utils): impl class inheritance + * docs(tier4_autoware_utils): add vehicle_state_checker document + * fix(tier4_autoware_utils): into same loop + * fix(tier4_autoware_utils): fix variables name + * fix(tier4_autoware_utils): remove redundant codes + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point + * Modify overwriteStopPoint input and output + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner) fix bug of stop line unalignment + * fix bug of unsorted output points + * move calcVelocity in node.cpp + * fix build error + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change + * fix bug of right lane change + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * use car like constraints in mpt + * use not widest bounds for the first bounds + * organized params + * fix format + * prepare rear_drive and uniform_circle constraints + * fix param callback + * update config + * remove unnecessary files + * update tier4_planning_launch params + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check + * feat: use marker helper + * feat(map_loader): visualize center line by points (`#931 `_) + * feat: visualize center line points + * fix: delete space + * feat: visualize center line by arrow + * revert insertMarkerArray + * fix: delete space + * feat: add RTC interface (`#765 `_) + * feature(rtc_interface): add files + * feature(rtc_interface): implement functions + * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md + * feature(rtc_interface): fix README + * feature(rtc_interface): add getModuleType() + * feature(rtc_interface): fix definition of constructor + * feature(rtc_interface): fix time stamp + * feature(rtc_interface): fix README + * feature(rtc_interface): add isRegistered and clearCooperateStatus + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore: sync files (`#911 `_) + Co-authored-by: kenji-miyake + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock + * fix: replace boost::mutex to std::mutex + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node + * feat(tensorrt_yolo): update arg + Co-authored-by: Kaan Colak + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner + * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * feat: add param.yaml in behavior_velocity_planner package + * some fix + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader + * fix(map_loader): remove c_str + * fix(map_loader): replace c_str to string + * fix: relative link + * fix: relative links + * fix: relative links + * fix: relative links + * fix: typo + * fix relative links + * docs: ignore rare unknown words + * ci(pre-commit): autofix + * docs: ignore unknown words one by one + * ci(pre-commit): autofix + Co-authored-by: Hiroki OTA + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Mamoru Sobue + Co-authored-by: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Takamasa Horibe + Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> + Co-authored-by: suchang + Co-authored-by: Berkay + Co-authored-by: Berkay + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: Kosuke Takeuchi + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: kk-inoue-esol <76925382+kk-inoue-esol@users.noreply.github.com> + Co-authored-by: Fumiya Watanabe + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: kenji-miyake + Co-authored-by: RyuYamamoto + Co-authored-by: Kaan Çolak + Co-authored-by: Kaan Colak + Co-authored-by: Kenji Miyake +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* 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: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) + * fix(autoware_auto_common): modify build error in rolling + * fix(autoware_auto_tf2): modify build error in rolling + * fix(autoware_auto_geometry): modify build error in rolling + * fix(simple_planning_simulator): add compile definition for geometry2 + * fix(motion_common): add compile definition for geometry2 + * fix(motion_testing): add compile definition for geometry2 + * fix(simple_planning_simulator): modify build error in rolling + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: fix typos (`#751 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) + * ci(pre-commit): remove unnecessary excludes + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * address pre-commit for Markdown files + * fix Python imports + * address cpplint errors + * fix broken package.xml + * rename ROS parameter files + * fix build + * use autoware_lint_common + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: remove filesystem.hpp (`#440 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) + * Implement Lateral and Longitudinal Control Muxer + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller + * Fix build error for trajectory follower + * Fix build error for trajectory follower nodes + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * modify trajectory_follower for galactic build + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes + * apply trajectory msg modification in control + * move directory + * remote control/trajectory_follower level dorectpry + * remove .iv trajectory follower + * use .auto trajectory_follower + * remove .iv simple_planning_simulator & osqp_interface + * use .iv simple_planning_simulator & osqp_interface + * add tmp_autoware_auto_dependencies + * tmporally add autoware_auto_msgs + * apply .auto message split + * fix build depend + * fix packages using osqp + * fix autoware_auto_geometry + * ignore lint of some packages + * ignore ament_lint of some packages + * ignore lint/pre-commit of trajectory_follower_nodes + * disable unit tests of some packages + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + * Port parking planner packages from .Auto (`#600 `_) + * Copy code of 'vehicle_constants_manager' + * Fix vehicle_constants_manager for ROS galactic + * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms + * Add astar_search (from .Auto) + * Copy freespace_planner from .Auto + * Update freespace_planner for .IV + * Copy costmap_generator from .Auto + * Copy and update had_map_utils from .Auto + * Update costmap_generator + * Copy costmap_generator_nodes + * Update costmap_generator_nodes + * Comment out all tests + * Move vehicle_constant_managers to tmp_autoware_auto_dependencies + * ignore pre-commit for back-ported packages + * ignore testing + Co-authored-by: Takamasa Horibe + * fix: fix pre-commit + * fix: fix markdownlint + * fix: fix cpplint + * feat: remove autoware_auto_dependencies + Co-authored-by: Takamasa Horibe + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* Contributors: Daisuke Nishimatsu, Esteve Fernandez, Kenji Miyake, Kotaro Yoshimoto, Maxime CLEMENT, Satoshi OTA, Shumpei Wakabayashi, Shunsuke Miura, Takeshi Miura, Vincent Richard diff --git a/common/autoware_auto_common/design/comparisons.md b/common/autoware_auto_common/design/comparisons.md index 3d00f77c1b0c3..d0f84c7475308 100644 --- a/common/autoware_auto_common/design/comparisons.md +++ b/common/autoware_auto_common/design/comparisons.md @@ -28,7 +28,7 @@ The `exclusive_or` function will test whether two values cast to different boole #include // using-directive is just for illustration; don't do this in practice -using namespace autoware::common::helper_functions::comparisons; +using namespace autoware::qp_interface::helper_functions::comparisons; static constexpr auto epsilon = 0.2; static constexpr auto relative_epsilon = 0.01; diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index 10524876f749d..1a462ee9db7ac 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -2,7 +2,7 @@ autoware_auto_common - 1.0.0 + 0.38.0 Miscellaneous helper functions Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst new file mode 100644 index 0000000000000..68a4eaaa2f36b --- /dev/null +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -0,0 +1,13 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_specs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: fix internal door interface qos (`#9144 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml index 3e53968a94d61..b50cd80074d1f 100644 --- a/common/autoware_component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_specs - 0.0.0 + 0.38.0 The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst new file mode 100644 index 0000000000000..d04567161c80d --- /dev/null +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_tools +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_tools): prefix package and namespace with autoware (`#9093 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 103489adc1a53..96514517e1574 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_tools - 0.1.0 + 0.38.0 The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..d27f4b4558bbc --- /dev/null +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -0,0 +1,155 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package component_interface_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* ci(pre-commit): autoupdate (`#7499 `_) + Co-authored-by: M. Fatih Cırıt +* Contributors: Yutaka Kondo, awf-autoware-bot[bot] + +0.26.0 (2024-04-03) +------------------- +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* chore(component_interface_utils): set log level of debug printing to DEBUG (`#5995 `_) +* feat: add common interface utils test (`#5173 `_) + * add interface utils test + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) + fix depth +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , 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 +* chore: update codeowners (`#3513 `_) +* 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 +* chore: add api maintainers (`#2361 `_) +* fix(component_interface_utils): fix error level (`#2322 `_) +* feat(operation_mode_transition_manager): support ad api (`#1535 `_) + * feat(operation_mode_transition_manager): support ad api + * fix: merge operation mode state message + * feat(autoware_ad_api_msgs): define operation mode interface + * fix: add message + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat: apply field name change + * feat: move adapi message + * feat: change message type + * fix: fix build error + * fix: fix error message + * WIP + * feat: add compatibility + * fix: fix operation mode change when disable autoware control + * fix: fix operation mode change when autoware control is disabled + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(default_ad_api): add motion api (`#1809 `_) + * feat(autoware_ad_api_specs): define motion interface + * feat(default_ad_api): add motion api + * feat: modify motion api + * feat: modify motion api + * feat: add error code + * feat: move adapi messages + * feat: update message type + * feat(component_interface_utils): apply message change + * feat: apply status type change + * feat: change message type + * feat: change message name + * fix: fix state + * feat: add option + * feat: modify state name + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(component_interface_utils): change service log output (`#2022 `_) + * feat(component_interface_utils): change client log + * feat(component_interface_utils): change server log + * feat(component_interface_utils): add interface + * feat: add console log +* feat(component_interface_utils): apply message change (`#1921 `_) + * feat(component_interface_utils): apply message change + * feat: add error category +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) + * feat(autoware_ad_api_msgs): define routing interface + * feat: rename route body message + * feat: rename route state +* feat(component_interface_utils): update service utility (`#1429 `_) + * feat(component_interface_utils): add exceptions, relay, and synchronous service call + * feat(autoware_ad_api_msgs): add status code + * feat(component_interface_utils): fix for hubmle + * feat(component_interface_utils): fix for galactic + * docs(component_interface_utils): update readme + * docs(component_interface_utils): update readme + * docs(component_interface_utils): fix typo and spell check + * feat(component_interface_utils): add transform error + * feat(component_interface_utils): use optional for no timeout + * docs(component_interface_utils): update readme + * feat(component_interface_utils): add bind function +* feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes + * feat(default_ad_api): apply the changes of interface utils + * fix(component_interface_utils): remove old comment + * fix(component_interface_utils): add client log + * fix(component_interface_utils): remove unimplemented message + * docs(component_interface_utils): add design policy + * docs(component_interface_utils): add comment +* 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: apply fixes for rolling (`#821 `_) + * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML + * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER + * add rclcpp_components to package.xml + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(default_ad_api): add interface version (`#704 `_) + * feat(default_ad_api): add interface version + * feat(default_ad_api): add http server + * feat(default_ad_api): add message readme + * feat(default_ad_api): modify message readme + * feat(default_ad_api): fix message type + * feat(default_ad_api): fix message type + * feat(default_ad_api): remove unused message + * feat(component_interface_utils): use full path + * feat(component_interface_utils): rename package + * feat(autoware_ad_api_msgs): remove unused message + * feat(component_interface_utils): add readme and comments + * feat(default_ad_api): fix api name + * Update common/autoware_ad_api_msgs/README.md + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * add test + * fix server name + * Add comment + * fix typo + * rename version api + * Update system/default_ad_api/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update system/default_ad_api/launch/default_ad_api.launch.py + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Fix for renaming web server script + * Fix test script for readability + * Fix test script for readability + * Add comment + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* Contributors: Kenji Miyake, Takagi, Isamu, Takayuki Murooka, Vincent Richard, shulanbushangshu, yabuta diff --git a/common/component_interface_utils/CMakeLists.txt b/common/autoware_component_interface_utils/CMakeLists.txt similarity index 92% rename from common/component_interface_utils/CMakeLists.txt rename to common/autoware_component_interface_utils/CMakeLists.txt index 435d5535e0a37..b7cce55eba9fa 100644 --- a/common/component_interface_utils/CMakeLists.txt +++ b/common/autoware_component_interface_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_utils) +project(autoware_component_interface_utils) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_utils/README.md b/common/autoware_component_interface_utils/README.md similarity index 83% rename from common/component_interface_utils/README.md rename to common/autoware_component_interface_utils/README.md index 2a2b191c854a0..2f4038c9f37cd 100644 --- a/common/component_interface_utils/README.md +++ b/common/autoware_component_interface_utils/README.md @@ -1,4 +1,4 @@ -# component_interface_utils +# autoware_component_interface_utils ## Features @@ -40,13 +40,13 @@ Create the wrapper using the above definition as follows. ```cpp // header file -component_interface_utils::Service::SharedPtr srv_; -component_interface_utils::Client::SharedPtr cli_; -component_interface_utils::Publisher::SharedPtr pub_; -component_interface_utils::Subscription::SharedPtr sub_; +autoware::component_interface_utils::Service::SharedPtr srv_; +autoware::component_interface_utils::Client::SharedPtr cli_; +autoware::component_interface_utils::Publisher::SharedPtr pub_; +autoware::component_interface_utils::Subscription::SharedPtr sub_; // source file -const auto node = component_interface_utils::NodeAdaptor(this); +const auto node = autoware::component_interface_utils::NodeAdaptor(this); node.init_srv(srv_, callback); node.init_cli(cli_); node.init_pub(pub_); @@ -94,7 +94,7 @@ void service_callback(Request req, Response res) There are utilities for relaying services and messages of the same type. ```cpp -const auto node = component_interface_utils::NodeAdaptor(this); +const auto node = autoware::component_interface_utils::NodeAdaptor(this); service_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); node.relay_message(pub_, sub_); node.relay_service(cli_, srv_, service_callback_group_); // group is for avoiding deadlocks diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp similarity index 84% rename from common/component_interface_utils/include/component_interface_utils/rclcpp.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp index 8099bea36784e..bae7856af04f1 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp @@ -12,21 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { class NodeAdaptor @@ -123,6 +123,6 @@ class NodeAdaptor NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp similarity index 79% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp index d5af211b015bf..66f85613cb11b 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp @@ -12,20 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// Create a client wrapper for logging. This is a private implementation. @@ -72,6 +72,6 @@ typename Subscription::SharedPtr create_subscription_impl( return Subscription::make_shared(subscription); } -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp similarity index 88% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp index e0a6064875d91..03dc5e2bd8b74 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { class ServiceException : public std::exception @@ -104,6 +104,6 @@ class NoEffectWarning : public ServiceException } }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp similarity index 87% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp index 97f46933f2fe6..ce4a11f8e1086 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { struct NodeInterface @@ -68,6 +68,6 @@ struct NodeInterface std::string node_name; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp similarity index 87% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp index e9cf68fa098a2..1b2c77cb30c51 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ -#include -#include +#include +#include #include #include @@ -25,7 +25,7 @@ #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Client for logging. @@ -104,6 +104,6 @@ class Client NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp similarity index 86% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp index 762f95fe8b450..3e9a4c81d3bcf 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ -#include -#include +#include +#include #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Service for logging. @@ -94,6 +94,6 @@ class Service NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp similarity index 79% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp index b2c002613a294..49304eaaa06a3 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Publisher. This is for future use and no functionality now. @@ -43,6 +43,6 @@ class Publisher typename WrapType::SharedPtr publisher_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp similarity index 77% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp index 195a04c370964..bd092c30b9866 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Subscription. This is for future use and no functionality now. @@ -40,6 +40,6 @@ class Subscription typename WrapType::SharedPtr subscription_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/specs.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp similarity index 74% rename from common/component_interface_utils/include/component_interface_utils/specs.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp index db3bb9517430f..565c5555cb085 100644 --- a/common/component_interface_utils/include/component_interface_utils/specs.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__SPECS_HPP_ -#define COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { template @@ -29,6 +29,6 @@ rclcpp::QoS get_qos() return qos; } -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/status.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp similarity index 74% rename from common/component_interface_utils/include/component_interface_utils/status.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp index bf4d67ae5c833..076c5b95c31c5 100644 --- a/common/component_interface_utils/include/component_interface_utils/status.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__STATUS_HPP_ -#define COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ -namespace component_interface_utils::status +namespace autoware::component_interface_utils::status { template @@ -26,6 +26,6 @@ void copy(const T1 & src, T2 & dst) // NOLINT(build/include_what_you_use): cppl dst->status.message = src->status.message; } -} // namespace component_interface_utils::status +} // namespace autoware::component_interface_utils::status -#endif // COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ diff --git a/common/component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml similarity index 85% rename from common/component_interface_utils/package.xml rename to common/autoware_component_interface_utils/package.xml index 7a6a6d12880ad..f1902d159e818 100755 --- a/common/component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -1,9 +1,9 @@ - component_interface_utils - 0.0.0 - The component_interface_utils package + autoware_component_interface_utils + 0.38.0 + The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito Apache License 2.0 diff --git a/common/component_interface_utils/test/test_component_interface_utils.cpp b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp similarity index 83% rename from common/component_interface_utils/test/test_component_interface_utils.cpp rename to common/autoware_component_interface_utils/test/test_component_interface_utils.cpp index 3c41f4a85b4f9..7cf2dccf3e764 100644 --- a/common/component_interface_utils/test/test_component_interface_utils.cpp +++ b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_utils/rclcpp/exceptions.hpp" -#include "component_interface_utils/specs.hpp" -#include "component_interface_utils/status.hpp" +#include "autoware/component_interface_utils/rclcpp/exceptions.hpp" +#include "autoware/component_interface_utils/specs.hpp" +#include "autoware/component_interface_utils/status.hpp" #include "gtest/gtest.h" TEST(interface, utils) { { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; @@ -34,7 +34,7 @@ TEST(interface, utils) } { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; @@ -48,10 +48,10 @@ TEST(interface, utils) } { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; - using component_interface_utils::status::copy; + using autoware::component_interface_utils::status::copy; class status_test { diff --git a/common/autoware_geography_utils/CHANGELOG.rst b/common/autoware_geography_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..623861bbd01c3 --- /dev/null +++ b/common/autoware_geography_utils/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_geography_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) + * refactor(geography_utils): prefix package and namespace with autoware + * move headers to include/autoware/ + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_geography_utils/package.xml index bd3aa79bde8c2..d8ea7524eaebc 100644 --- a/common/autoware_geography_utils/package.xml +++ b/common/autoware_geography_utils/package.xml @@ -2,10 +2,16 @@ autoware_geography_utils - 0.1.0 + 0.38.0 The autoware_geography_utils package - Koji Minoda + Yamato Ando + Masahiro Sakamoto + NGUYEN Viet Anh + Taiki Yamada + Shintaro Sakoda + Ryu Yamamoto Apache License 2.0 + Koji Minoda ament_cmake_auto autoware_cmake diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst new file mode 100644 index 0000000000000..4b38ad848193b --- /dev/null +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_goal_distance_calculator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(goal_distance_calculator): prefix package and namespace with autoware (`#9172 `_) + * refactor(goal_distance_calculator): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml index 28472bee213ed..4ad84b9f4f283 100644 --- a/common/autoware_goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_goal_distance_calculator - 0.0.0 + 0.38.0 The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..ee66753285b0e --- /dev/null +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_grid_map_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml index d8344b08f2341..40c1ba7c96e87 100644 --- a/common/autoware_grid_map_utils/package.xml +++ b/common/autoware_grid_map_utils/package.xml @@ -2,7 +2,7 @@ autoware_grid_map_utils - 0.0.0 + 0.38.0 Utilities for the grid_map library Maxime CLEMENT Apache License 2.0 diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst new file mode 100644 index 0000000000000..fbba411fcdeca --- /dev/null +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -0,0 +1,13 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_interpolation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml index d2538bd602f45..e94ec898cb0cb 100644 --- a/common/autoware_interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -2,7 +2,7 @@ autoware_interpolation - 0.1.0 + 0.38.0 The spline interpolation package Fumiya Watanabe Takayuki Murooka diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..becf8dc95abec --- /dev/null +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -0,0 +1,17 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_kalman_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) + * refactor(kalman_filter): prefix package and namespace with autoware + * move headers to include/autoware/ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml index 7d36bfc47aecf..a3c454795344b 100644 --- a/common/autoware_kalman_filter/package.xml +++ b/common/autoware_kalman_filter/package.xml @@ -2,7 +2,7 @@ autoware_kalman_filter - 0.1.0 + 0.38.0 The kalman filter package Yukihiro Saito Takeshi Ishita diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..84374fb8a3f26 --- /dev/null +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -0,0 +1,87 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_motion_utils): add spherical linear interpolator (`#9175 `_) +* test(motion_utils): add test for path shift (`#9083 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + * add test file + * add unit test to all function + * fix spelling + --------- +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* refactor(autoware_motion_utils): refactor interpolator (`#8931 `_) + * refactor interpolator + * update cmake + * update + * rename + * Update CMakeLists.txt + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* feat(autoware_motion_utils): set zero velocity after stop in resample trajectory (`#8768 `_) + * feat(autoware_motion_utils): set zero velocity after stop in resample trajectory + * fix unit test + * simplify implementation + * update comment and add test + --------- +* fix(autoware_motion_utils): fix unusedFunction (`#8733 `_) + refactor:remove Path/Trajectory length calculation between designated points +* feat(autoware_motion_utils): add clone function and make the constructor public (`#8688 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + --------- +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(autoware_motion_utils): add interpolator (`#8517 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + --------- +* fix(autoware_motion_utils): fix unusedFunction (`#8519 `_) + fix: unusedFunction +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) + * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + --------- + Co-authored-by: Kyoichi Sugahara +* 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 +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Nagi70, Yukinari Hisaki, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_motion_utils/CMakeLists.txt b/common/autoware_motion_utils/CMakeLists.txt index 8cae2a8ac4110..4c36ef2f4e70d 100644 --- a/common/autoware_motion_utils/CMakeLists.txt +++ b/common/autoware_motion_utils/CMakeLists.txt @@ -1,8 +1,6 @@ cmake_minimum_required(VERSION 3.14) project(autoware_motion_utils) -option(BUILD_EXAMPLES "Build examples" OFF) - find_package(autoware_cmake REQUIRED) autoware_package() @@ -24,28 +22,4 @@ if(BUILD_TESTING) ) endif() -if(BUILD_EXAMPLES) - message(STATUS "Building examples") - - include(FetchContent) - fetchcontent_declare( - matplotlibcpp17 - GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git - GIT_TAG master - ) - fetchcontent_makeavailable(matplotlibcpp17) - - file(GLOB_RECURSE example_files examples/*.cpp) - - foreach(example_file ${example_files}) - get_filename_component(example_name ${example_file} NAME_WE) - ament_auto_add_executable(${example_name} ${example_file}) - set_source_files_properties(${example_file} PROPERTIES COMPILE_FLAGS -Wno-error -Wno-attributes -Wno-unused-parameter) - target_link_libraries(${example_name} - autoware_motion_utils - matplotlibcpp17::matplotlibcpp17 - ) - endforeach() -endif() - ament_auto_package() diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp deleted file mode 100644 index beb3b9c7ead3e..0000000000000 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp +++ /dev/null @@ -1,23 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ -#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ -#include -#include -#include -#include -#include -#include -#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 1fe2c4d8e1ea8..6fbe84927a9e3 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -2,7 +2,7 @@ autoware_motion_utils - 0.1.0 + 0.38.0 The autoware_motion_utils package Satoshi Ota Takayuki Murooka diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..1ff6a870e3791 --- /dev/null +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_object_recognition_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml index 8fcc19ec7a53c..353a6af544783 100644 --- a/common/autoware_object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -2,7 +2,7 @@ autoware_object_recognition_utils - 0.1.0 + 0.38.0 The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..5af614d9301ad --- /dev/null +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_osqp_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml index d49ce63bd8c93..063617716bdd6 100644 --- a/common/autoware_osqp_interface/package.xml +++ b/common/autoware_osqp_interface/package.xml @@ -2,7 +2,7 @@ autoware_osqp_interface - 1.0.0 + 0.38.0 Interface for the OSQP solver Maxime CLEMENT Takayuki Murooka diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..86a9f62f236fa --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,14 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_mission_details_overlay_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) + feat: Add color customization to gear, speed, mission,speedlimit and traffic displays +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* Contributors: Ahmed Ebrahim, Khalil Selyan, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml index 1054ac4f516bd..1865376069def 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_mission_details_overlay_rviz_plugin - 0.0.1 + 0.38.0 RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..012be9e7cce85 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,38 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_overlay_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(speed_display): always show speed positive and depend on gear for negatives (`#8957 `_) +* style: update state panel plugin (`#8846 `_) +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) + feat: Add color customization to gear, speed, mission,speedlimit and traffic displays +* fix(autoware_overlay_rviz_plugin): topic type of traffic light (`#8098 `_) + * fix(autoware_overlay_rviz_plugin): topic type of traffic light + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add handle angle scale property to signal display (`#7774 `_) + * feat: add handle angle scale property to signal display + * fix: set default steering angle to 0.0° when not received + * fix: set default steering angle to N/A when not received and check for msg_ptr instead of float value + * chore: update steering wheel font size and wheel icon center is bigger + * chore: update steering wheel display to center the steering angle text + * chore: align steering angle text in both negative and positive cases + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* fix(autoware_overlay_rviz_plugin): fix subs and cleanup (`#6978 `_) +* feat: update rviz2 overlay (`#6883 `_) +* feat(autoware_overlay_rviz_plugin): get the current traffic light (`#6899 `_) +* Contributors: Khalil Selyan, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Tomohito ANDO, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* build(autoware_overlay_rviz_plugin): add missing ament_cmake_auto dependency (`#6519 `_) +* feat: update vehicle overlay plugin (`#6323 `_) +* Contributors: Esteve Fernandez, Khalil Selyan diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index 73e0dbea0866e..6b0ee4fbd355e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_overlay_rviz_plugin - 0.0.1 + 0.38.0 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). @@ -11,6 +11,7 @@ BSD-3-Clause + ament_index_cpp autoware_perception_msgs autoware_vehicle_msgs boost diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst new file mode 100644 index 0000000000000..436099b87795e --- /dev/null +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -0,0 +1,13 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_path_distance_calculator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: add autoware prefix (`#8385 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* Contributors: Esteve Fernandez, Kotaro Uetake, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml index f6410ffb24dc5..e9042c4385b66 100644 --- a/common/autoware_path_distance_calculator/package.xml +++ b/common/autoware_path_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_path_distance_calculator - 0.0.0 + 0.38.0 The autoware_path_distance_calculator package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/common/autoware_perception_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..0f8e5ff1f7fd8 --- /dev/null +++ b/common/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,856 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_perception_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_perception_rviz_plugin): fix unusedFunction (`#8784 `_) + fix: unusedFunction +* feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (`#8536 `_) + * refactor: predicted path mark replace to triangle + * chore: clean up + --------- +* fix(autoware_perception_rviz_plugin): fix passedByValue (`#8192 `_) + * fix: passedByValue + * fix:passedByValue + --------- + Co-authored-by: kobayu858 +* chore(autoware_perception_rviz_plugin): delete maintainer (`#7900 `_) +* fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings (`#7695 `_) + * fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat(autoware_auto_perception_rviz_plugin)!: rename package to autoware_perception_rviz_plugin (`#7221 `_) + feat(autoware_auto_perception_rviz_plugin): rename package to autoware_perception_rviz_plugin + Co-authored-by: Yukihiro Saito +* Contributors: Hayate TOBA, Nagi70, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi Tanaka, Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat: add rviz plugin packages (`#3 `_) + * release v0.4.0 + * remove ROS1 packages temporarily + * add sample ros2 packages + * remove ROS1 packages + * Revert "remove ROS1 packages temporarily" + This reverts commit 7eacbcea261a65d6c305c7b0d069591ca3a2ee3a. + * add COLCON_IGNORE to ros1 packages + * Port autoware-perception-rviz-plugin (`#100 `_) + * Port to ROS2 + * Update namespaces + * Port autoware-planning-rviz-plugin (`#103 `_) + * Port to ROS2 + * Update deprecated + * Update namespaces + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) + * Use quotes for includes where appropriate + * Fix lint tests + * Make tests pass hopefully + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase + * Exclude open PRs + * Fix rviz plugins (`#175 `_) + * [autoware_perception_rviz_plugin] make library to shared and fix library name in plugin_description.xml + * [autoware_planning_rviz_plugin] make library to shared and fix library name in plugin_description.xml + * Port autoware vehicle rviz plugin (`#111 `_) + * Port to ROS2 + * Amend buildtool + * Fix license + * Fix + * Fixes + * adding linters to autoware_planning_rviz_plugin (`#224 `_) + * adding linters to autoware_perception_rviz_plugin (`#225 `_) + * [autoware_perception_rviz_plugin] make plugin library SHARED (`#236 `_) + * Fix bugs in autoware vehicle rviz plugin (`#246 `_) + * Ros2 v0.8.0 autoware vehicle rviz plugin (`#333 `_) + * add test depend + * fix console meter size (`#909 `_) + * update to change font scale (`#910 `_) + * Fix typos in common modules (`#914 `_) + * fix typos in common modules + * minor fix (lowercasing) + * revert changes in PathPoint.msg + * Fix memory leaks in turn signal plugin (`#932 `_) + * fix memory leak (QPointF) + * convert raw pointers to smart pointers + * update handle image (`#948 `_) + * reduce calc cost rviz plugin (`#947 `_) + * reduce calc cost + * cosmetic change + * cosmetic change + * Use CMAKE_CXX_STANDARD to enable C++14 for Qt + Co-authored-by: Kenji Miyake + * change font size independency desplay (`#946 `_) + * bug fix (wrong unit conversion) (`#956 `_) + * Refactor autoware_vehicle_rviz_plugin (`#967 `_) + * Refactor autoware_vehicle_rviz_plugin + - change smart pointers to raw pointers according to Qt convention + - remove unused headers + - remove unused variables + - cosmetic changes according to Google C++ Style Guide + - use the range-based for statement + - replace push_back with emplace_back + See also: `#932 `_, `#964 `_ + * Apply clang-format + * Change a variable name to clarify: history -> histories + * add build testing + * appply ament_uncrustify + * apply lint + * fix bug + Co-authored-by: Yukihiro Saito + Co-authored-by: Kazuki Miyahara + Co-authored-by: Kenji Miyake + * Ros2 v0.8.0 autoware perception rviz plugin (`#334 `_) + * Fix typos in common modules (`#914 `_) + * fix typos in common modules + * minor fix (lowercasing) + * revert changes in PathPoint.msg + * ament_cmake_cppcheck -> ament_lint_common + * apply lint + Co-authored-by: Kazuki Miyahara + * Ros2 v0.8.0 autoware planning rviz plugin (`#336 `_) + * add speed limit visualizer (`#908 `_) + * add speed limit visualizer + * :put_litter_in_its_place: + * add max velocity output + * fix bug + * update visualizer + Co-authored-by: tomoya.kimura + * change font size independency desplay (`#946 `_) + * ament_cmake_cppcheck -> ament_lint_common + * apply lint + * change topic type + Co-authored-by: Yukihiro Saito + * Ros2 v0.8.0 remove std msgs awapi (`#348 `_) + * [autoware_vehicle_msgs] add BatteryStatus msg + * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages + * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages + * remove std_msgs related to autoware_awaiv_adapter node + * apply ament_uncrustify + * fix build failure + * fix test failures + * address review commends + * Ros2 v0.9.0 pose history (`#387 `_) + * Port pose history to ROS2 + * pose_history (`#1169 `_) + * change pkg name + * add alpha + Co-authored-by: Yukihiro Saito + * fix max velocity visualization (`#397 `_) + * fix max velocity vis + * apply lint-format + * Ros2 rtd plugin (`#444 `_) + * Use RTD instead of MFD + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) + * add readme of simple_planning_simulator + * Update simulator/simple_planning_simulator/README.md + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) + * add vehicle_info_param_server + * update vehicle info + * apply format + * fix bug + * skip unnecessary search + * delete vehicle param file + * fix bug + * Ros2 fix topic name part2 (`#425 `_) + * Fix topic name of traffic_light_classifier + * Fix topic name of traffic_light_visualization + * Fix topic name of traffic_light_ssd_fine_detector + * Fix topic name of traffic_light_map_based_detector + * Fix lint traffic_light_recognition + * Fix lint traffic_light_ssd_fine_detector + * Fix lint traffic_light_classifier + * Fix lint traffic_light_classifier + * Fix lint traffic_light_ssd_fine_detector + * Fix issues in hdd_reader (`#466 `_) + * Fix some issues detected by Coverity Scan and Clang-Tidy + * Update launch command + * Add more `close(new_sock)` + * Simplify the definitions of struct + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * back to RTD as superclass + * Rviz overlay render in update (`#465 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * removed unnecessary includes and some dead code + * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass + * restored RTD superclass + Co-authored-by: Takamasa Horibe + Co-authored-by: tkimura4 + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + * Unify Apache-2.0 license name (`#1242 `_) + * Porting trajectory rviz plugin (`#1295 `_) + * update trajectory rviz plugin to show velocity (`#1257 `_) + * update trajectory rviz plugin to show velocity + * use size_t instead of int to remove warning during compiling + * not show velocity on rviz unless check button is enabled + * modify visibility of velocity (`#1258 `_) + * fix plugin + * add dependency + Co-authored-by: Takayuki Murooka + Co-authored-by: tomoya.kimura + * Fix msgs (`#1379 `_) + * Fix msgs + * [autoware_planning_rviz_plugin]: Fix lint + Co-authored-by: wep21 + * Fix topic name of autoware_perception_rviz_plugin (`#1277 `_) (`#1479 `_) + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Porting polar grid to ros2 (`#1507 `_) + * Add dummy unknown publisher (`#1470 `_) + * Add dummy unknown publisher + * Fix lint + Co-authored-by: Kenji Miyake + * Add pre-commit (`#1560 `_) + * add pre-commit + * add pre-commit-config + * add additional settings for private repository + * use default pre-commit-config + * update pre-commit setting + * Ignore whitespace for line breaks in markdown + * Update .github/workflows/pre-commit.yml + Co-authored-by: Kazuki Miyahara + * exclude svg + * remove pretty-format-json + * add double-quote-string-fixer + * consider COLCON_IGNORE file when seaching modified package + * format file + * pre-commit fixes + * Update pre-commit.yml + * Update .pre-commit-config.yaml + Co-authored-by: Kazuki Miyahara + Co-authored-by: pre-commit + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * suppress warnings for common packages (`#1891 `_) + * add maybe unused + * add Werror + * fix for uncrustify + * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort xml hook in pre-commit + * change retval to exit_status + * rename + * add prettier plugin-xml + * use early return + * add license note + * add tier4 license + * restore prettier + * change license order + * move local hooks to public repo + * move prettier-xml to pre-commit-hooks-ros + * update version for bug-fix + * apply pre-commit + * add autoware_state_rviz_plugin (`#2160 `_) + * initial commit + * fix + * use raw pointer + * fix style + * fix style + * fix style + * fix style + * fix header arrangement + * add gear check and prefix label (`#2173 `_) + * add gear and prefix label + * add subscription + * fix for cpplint + * add engage button and status (`#2257 `_) + * fix style + * add engage button and engage status + * use api + * fix for pre commit + * fix for cpplint + * fix + * fix for cpplint + * fix for cpplint + * fix coding style + * Add datetime panel (`#2275 `_) + * Add datetime panel + * Fix/ros time (`#2276 `_) + * Fix ros time + * Add icon + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * add footprint in trajectory msg of rviz plugin (`#1553 `_) (`#1684 `_) + * add footprint in trajectory msg of rviz plugin (`#1553 `_) + * add footprint in trajectory msg of rviz plugin + * update + * trajectory -> footprint + * update + * add icons + * rename trajectory footprint from footprint + * add PathFootprint + * update + * Add min value + Co-authored-by: Takayuki Murooka + * Feature/trajectory point rviz plugin (`#2123 `_) + * add trajectory point + * set trajectory point view false by default + * add pull over/out module (`#2147 `_) + * 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 + * remove unused depends (`#496 `_) + * Add COLCON_IGNORE (`#500 `_) + * port planning rviz plugins (`#492 `_) + * port planning rviz plugins + * remove COLCON_IGNORE + Co-authored-by: Takayuki Murooka + * port autoware vehicle rviz plugin (`#542 `_) + * [ polar grid ] add readme polar grid remove colcon ignore (`#559 `_) + * remove ignore + * add readme + * fix invalid link + * port autoware_state_rviz_plugin (`#563 `_) + * remove COLCON_IGNORE form rviz plugins (`#544 `_) + * port autoware_perception_rviz_plugin (`#581 `_) + * add readme in rviz plugin (`#591 `_) + * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) + * fix console meter + * fix velocity_history + * fix route handler + * change topic name + * adding autoware_auto_perception_rviz_plugin (`#574 `_) + * [152] Implement BoundingBoxArray rviz display plugin. + * [285] Clear bounding box markers before adding new markers on new message + * [274] Trajectory visualization plugin + * raw types to sized type + * ControllerTestingNode: added publish_state(), publish_trajectory(), no timer hack to start test, all init is init() + * Squashed 'src/external/mpc/' changes from 8fc7cfdd..eaa5908b + eaa5908b Merge branch 'input-weight-modify' into 'master' + b9ee8e4f Update default mpc_controller_node parameters + 8d15f49d Add weights to acceleration and steer controls; loosen simulation test case: + git-subtree-dir: src/external/mpc + git-subtree-split: eaa5908bdd987051a9dcd9c505f99bfd7f028547 + * [`#404 `_] apply ament_auto macro to autoware_rviz_plugins + * Adding missing dependency on rviz2. + * Squashed 'src/external/autoware_auto_msgs/' changes from 56550efd..f40970ea + f40970ea Adding velocity_mps to VehicleControlCommand. + git-subtree-dir: src/external/autoware_auto_msgs + git-subtree-split: f40970ead34d36a695b432dc37accff9d67c17e2 + * Update copyright headers to transfer ownership to Autoware Foundation + * Add CHANGELOG and update package versions for release + Add CHANGELOG and update package versions for release + * [`#286 `_] Parameterize boundingbox colors from rviz + - Add visualization colours via Qt + * [`#813 `_] use autoware_set_compile_options() for nearly all compiled tests + - fix a few causes of warnings and disable warning flags as needed for + other tests + - set CXX_STANDARD strictly and only in a single place + - add CMake flag `AUTOWARE_OPTIMIZATION_OF_SLOW_TARGETS`. Default: OFF + - update building instructions and MR template + - fix nasty initialization error of static constexpr member in `GenericState` + of Kalman filter + * [`#910 `_] remove private compilation warning ignore flags + * [`#900 `_] Implement rviz plugin to visualize TrackedObjects + * [`#1110 `_] Implement rviz plugin for DetectedObjects msg + * Resolve "Clarify meaning of pose in *ObjectKinematics messages" + * [`#1221 `_] Add co-developed entry to copyright + * [`#1282 `_] Fix double free in ObjectPolygonDisplayBase rviz plugin + * [`#1355 `_] Make DetectedObject shape corners be in object-local coordinates + * porting AAP perception visualization from https://github.com/tier4/AutowareArchitectureProposal.iv/blob/main/perception/util/visualizer/dynamic_object_visualization/include/dynamic_object_visualization/dynamic_object_visualizer.hpp + * rename to autoware_auto_perception_rviz_plugin + * fix copyright + * format code + * fix typo + * convert camel to snake case + * Apply suggestions from code review + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * change color + * replace boost::optional to std::optional + * add icons + * set marker id to value corresponding to the upper 32 bits of uuid + * format code + * change motorsycle color + * add uuid map to set marker id + * format code + * remove brief comment + * fix lint error + * fix include sort + * format code + * fix include + * add autoware_auto_perception_rviz_plugin to pre commit excluded list + Co-authored-by: Yunus Emre Caliskan + Co-authored-by: Christopher Ho + Co-authored-by: MIURA Yasuyuki + Co-authored-by: Jit Ray Chowdhury + Co-authored-by: Joshua Whitley + Co-authored-by: Juan Pablo Samper + Co-authored-by: Jilada Eccleston + Co-authored-by: Frederik Beaujean + Co-authored-by: Vincent Richard + Co-authored-by: Gowtham + Co-authored-by: Nikolai Morin + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * add autoware_auto_perception_rviz_plugin README (`#631 `_) + * fix readme sentence grammar (`#634 `_) + * Auto/fix perception viz (`#639 `_) + * add ns of uuid + * remove dynamic_object_visualization + * update to support velocity report header (`#655 `_) + * update to support velocity report header + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp + Co-authored-by: tkimura4 + * use maybe_unused + * fix precommit + Co-authored-by: tkimura4 + * 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 + * FIx vehicle status topic name/type (`#658 `_) + * shift -> gear_status + * twist -> velocity_status + * Sync .auto branch with the latest branch in internal repository (`#691 `_) + * add trajectory point offset in rviz plugin (`#2270 `_) + * sync rc rc/v0.23.0 (`#2258 `_) + * fix interpolation for insert point (`#2228 `_) + * fix interpolation for insert point + * to prev interpolation pkg + * Revert "to prev interpolation pkg" + This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef. + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: taikitanaka + * fix topic name (`#2266 `_) + * Add namespace to diag for dual_return_filter (`#2269 `_) + * Add a function to make 'geometry_msgs::msg::TransformStamped' (`#2250 `_) + * Add a function to make 'geometry_msgs::msg::TransformStamped' + * Add 'child_frame_id' as an argument of 'pose2transform' + * Simplify marker scale initialization (`#2286 `_) + * Fix/crosswalk polygon (`#2279 `_) + * extend crosswalk polygon + * improve readability + * fix polygon shape + * Add warning when decel distance calculation fails (`#2289 `_) + * [motion_velocity_smoother] ignore debug print (`#2292 `_) + * cosmetic change + * cahnge severity from WARN to DEBUG for debug info + * use util for stop_watch + * fix map based prediction (`#2200 `_) + * fix map based prediction + * fix format + * change map based prediction + * fix spells + * fix spells in comments + * fix for cpplint + * fix some problems + * fix format and code for clang-tidy + * fix space for cpplint + * Update Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + * fix vector access method + * fix readme format + * add parameter + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + Co-authored-by: Kazuki Miyahara + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + Co-authored-by: Kazuki Miyahara + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + Co-authored-by: Kazuki Miyahara + * Update Readme.md + * Update perception/object_recognition/prediction/map_based_prediction/Readme.md + Co-authored-by: Kazuki Miyahara + Co-authored-by: tkimura4 + Co-authored-by: Kazuki Miyahara + * remove failure condition for 0 velocity trajectory (`#2295 `_) + * [mpc_follower] remove stop distance condition from stopState decision (`#1916 `_) + * [mpc_follower] remove stop distance condition from stopState decision + * add invalid index handling + * Move the debug marker initialization part to another file (`#2288 `_) + * Move the debug marker initialization part to 'debug.cpp' + * Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (`#2300 `_) + * Remove an unused function 'getTransform' (`#2301 `_) + * Simplify iteration of initial poses (`#2310 `_) + * Make a transform object const (`#2311 `_) + * Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (`#2312 `_) + * Feature/no stopping area (`#2163 `_) + * add no stopping area module to behavior velocity planner + * apply utils + * add polygon interpolation module order stopline around area is considered + * devide jpass udge with stop line polygon + * update docs + * rename file name + * update to latest + * minor change for marker + * update license + Co-authored-by: Yukihiro Saito + * update license + Co-authored-by: Yukihiro Saito + * update license + Co-authored-by: Yukihiro Saito + * update license + Co-authored-by: Yukihiro Saito + * minor fix + * add parameter tuning at experiment + * update readme + * format doc + * apply comments + * add exception gurd + * cosmetic change + * fix ament + * fix typo and remove for statement + * & to " " + * better ns + * return pass judge param + * add missing stoppable condition + * add clear pass judge and stoppable flag + * add comment + * precommit fix + * cpplint + Co-authored-by: Yukihiro Saito + * sync rc rc/v0.23.0 (`#2281 `_) + * Fix side shift planner (`#2171 `_) (`#2172 `_) + * add print debug + * remove forward shift points when adding new point + * remove debug print + * format + * Fix remove threshold + Co-authored-by: Fumiya Watanabe + Co-authored-by: Takamasa Horibe + * Fix/pull out and pull over (`#2175 `_) + * delete unnecessary check + * fix condition of starting pull out + * Add emergency status API (`#2174 `_) (`#2182 `_) + * Fix/mpc reset prev result (`#2185 `_) (`#2195 `_) + * reset prev result + * clean code + * reset only raw_steer_cmd + * Update control/mpc_follower/src/mpc_follower_core.cpp + Co-authored-by: Takamasa Horibe + Co-authored-by: Takamasa Horibe + Co-authored-by: Takamasa Horibe + * [hotfix] 1 path point exception after resampling (`#2204 `_) + * fix 1 path point exception after resampling + * Apply suggestions from code review + * Apply suggestions from code review + Co-authored-by: Takamasa Horibe + Co-authored-by: tkimura4 + * [hotfix] Fix lane ids (`#2211 `_) + * Fix lane ids + * Prevent acceleration on avoidance (`#2214 `_) + * prevent acceleration on avoidance + * fix param name + * parametrize avoidance acc + * change param name + * fix typo + * Fix qos in roi cluster fusion (`#2218 `_) + * fix confidence (`#2220 `_) + * too high confidence (`#2229 `_) + * Fix/obstacle stop 0.23.0 (`#2232 `_) + * fix unexpected slow down in sharp curves (`#2181 `_) + * Fix/insert implementation (`#2186 `_) + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * [hotfix] Remove exception in avoidance module (`#2233 `_) + * Remove exception + * Fix clock + * Remove blank line + * Update traffic light state if ref stop point is ahead of previous one (`#2197 `_) + * fix interpolation for insert point (`#2228 `_) + * fix interpolation for insert point + * to prev interpolation pkg + * fix index (`#2265 `_) + * turn signal calculation (`#2280 `_) + * add turn signal funtion in path shifter + * add ros parameters + Co-authored-by: Fumiya Watanabe + Co-authored-by: Takamasa Horibe + Co-authored-by: tkimura4 + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Yukihiro Saito + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> + * [behavior_path_planner] fix sudden path change around ego (`#2305 `_) (`#2318 `_) + * fix return-from-ego shift point generation logic + * change param for trimSimilarGradShiftPoint + * add comment for issue + * update comment + * replace code with function (logic has not changed) + * move func to cpp + * add comment for issue + * fix typo + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp + Co-authored-by: Kazuki Miyahara + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp + Co-authored-by: Kazuki Miyahara + Co-authored-by: Kazuki Miyahara + Co-authored-by: Takamasa Horibe + Co-authored-by: Kazuki Miyahara + * Add functions to make stamped scalar messages (`#2317 `_) + * Fix/object yaw in intersection module (`#2294 `_) + * fix object orientation + * fix function name + * add guard (`#2321 `_) + * reduce cost (double to float) (`#2298 `_) + * Add detail collision check (`#2274 `_) + * Add detail collision check + * Remove unused function + * Fix arc length + * Seperate time margin + * Fix parameter name + * Update Readme + * Address review: Add comment for TimeDistanceArray + * Run pre-commit + * Fix cpplint + * Add return for empty polygon + * update CenterPoint (`#2222 `_) + * update to model trained by mmdet3d + * add vizualizer (debug) + * for multi-frame inputs + * chagne config + * use autoware_utils::pi + * project specific model and param + * rename vfe -> encoder + * rename general to common + * update download link + * update + * fix + * rename model_name + * change training toolbox link + * chage lint package + * fix test error + * commit suggestion + * Feature/lane change detection (`#2331 `_) + * add old information deleter + * fix access bug + * change to deque + * update obstacle buffer + * fix some bugs + * add lane change detector + * make a update lanelet function + * fix code style + * parameterize essential values + * Update perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp + Co-authored-by: Kazuki Miyahara + * fix slash position + * remove unnecessary lines + * fix format + * fix format + * change to new enum + * fix format + * fix typo and add guard + * change funciton name + * add lane change description + Co-authored-by: Kazuki Miyahara + * Add Planning Evaluator (`#2293 `_) + * Add prototype planning evaluator + Produced data for dist between points, curvature, and relative angle + * Cleanup the code to make adding metrics easier + * Add remaining basic metrics (length, duration, vel, accel, jerk) + * Add motion_evaluator to evaluate the actual ego motion + code cleanup + * Add deviation metrics + * Add naive stability metric + * Handle invalid stat (TODO: fix the output file formatting) + * Add parameter file and cleanup + * Add basic obstacle metric (TTC not yet implemented) and fix output file format + * Add basic time to collision + * Add lateral-distance based stability metric + * Add check (at init time) that metrics' maps are complete + * Publish metrics as ParamaterDeclaration msg (for openscenario) + * Use lookahead and start from ego_pose when calculating stability metrics + * Code cleanup + * Fix lint + * Add tests + * Fix bug with Frechet dist and the last traj point + * Finish implementing tests + * Fix lint + * Code cleanup + * Update README.md + * Remove unused metric + * Change msg type of published metrics to DiagnosticArray + * fix format to fix pre-commit check + * fix yaml format to fix pre-commit check + * fix yaml format + * apply clang-format + * apply clang-format + * Update planning/planning_diagnostics/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp + * Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp + * Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp + * change lint format to autoware_lint_common + Co-authored-by: Takamasa Horibe + * Add keep braking function at driving state (`#2346 `_) + * Add keep braking function at driving state + * Remove debug messages + * Fix format + * Change diag_updater's pediod from default to 0.1sec (`#2348 `_) + * add cross judgement and common signal function (`#2319 `_) + * merge branch turn_signal_common + * add turn signal function in signal decider + * add cross judge in path_utilities and delete from turn_signal_decider + * remove original signal calculation in lane change + * omit substitution + * replace turn signal decider in pull over function + * modify cross judge logic + * replace turn signal decider in avoidance + * add readme of turn signal + * update + * delete print debug + * update + * delete lane change decider in path shifter + * delete blank line + * fix indent + * fix typo + * fix typo + * decrease nest + * run pre commit + * Add 0 limit at forward jerk velocity filter (`#2340 `_) + * add time offset param to point cloud concatenation (`#2303 `_) + * add offset param + * clang-format + Co-authored-by: Akihito OHSATO + * Feature/add doc for keep braking function at driving state (`#2366 `_) + * Add the description of brake keeping + * Add the english document + * Improve description + * Add english description + * Fix include files (`#2339 `_) + * fix behavior intersection module + * fix behavior no stopping area module + * fix planning_evaluator + * fix motion_velocity_smoother + * rename variable + * Revert "[mpc_follower] remove stop distance condition from stopState decision (`#1916 `_)" + This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02. + * Revert "Add keep braking function at driving state (`#2346 `_)" + This reverts commit f0478187db4c28bf6092c198723dcc5ec11a9c70. + * Revert "Feature/add doc for keep braking function at driving state (`#2366 `_)" + This reverts commit 66de2f3924a479049fce2d5c5c6b579cacbd3e49. + * Fix orientation availability in centerpoint + * fix test_trajectory.cpp + * add target link libraries + * Use .auto msg in test code for planniing evaluator + * fix include + Co-authored-by: Takayuki Murooka + Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: taikitanaka + Co-authored-by: Takamasa Horibe + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Makoto Kurihara + Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> + Co-authored-by: tkimura4 + Co-authored-by: Kazuki Miyahara + Co-authored-by: Yukihiro Saito + Co-authored-by: Fumiya Watanabe + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> + Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com> + Co-authored-by: Yusuke Muramatsu + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> + Co-authored-by: Akihito OHSATO + Co-authored-by: Kenji Miyake + * [autoware_auto_perception_rviz_plugin]fix bug (`#721 `_) + * fix perception_marker + * fix missing commit + * apply format + * patch for PR721 (`#722 `_) + * fix id_map erase operation + * fix code to use c++11 function + * update tracked_objects_display + * fix bug + Co-authored-by: Taichi Higashide + * fix rviz plugin (`#743 `_) + * move plugin packages + * add ignore file to apply pre-commit + Co-authored-by: mitsudome-r + Co-authored-by: Servando <43142004+sgermanserrano@users.noreply.github.com> + Co-authored-by: Nikolai Morin + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Yukihiro Saito + Co-authored-by: Kazuki Miyahara + Co-authored-by: Kenji Miyake + Co-authored-by: Takamasa Horibe + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + Co-authored-by: Keisuke Shima + Co-authored-by: Takayuki Murooka + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: wep21 + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: pre-commit + Co-authored-by: Hiroki OTA + Co-authored-by: kyoichi sugahara <81.s.kyo.19@gmail.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: Taichi Higashide + Co-authored-by: Yunus Emre Caliskan + Co-authored-by: Christopher Ho + Co-authored-by: MIURA Yasuyuki + Co-authored-by: Jit Ray Chowdhury + Co-authored-by: Joshua Whitley + Co-authored-by: Juan Pablo Samper + Co-authored-by: Jilada Eccleston + Co-authored-by: Frederik Beaujean + Co-authored-by: Vincent Richard + Co-authored-by: Gowtham + Co-authored-by: Nikolai Morin + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> + Co-authored-by: taikitanaka + Co-authored-by: Takeshi Ishita + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Makoto Kurihara + Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> + Co-authored-by: Fumiya Watanabe + Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> + Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com> + Co-authored-by: Yusuke Muramatsu + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> + Co-authored-by: Akihito OHSATO +* Contributors: Tomoya Kimura diff --git a/common/autoware_perception_rviz_plugin/package.xml b/common/autoware_perception_rviz_plugin/package.xml index dd2cd4222c422..98c24297894b6 100644 --- a/common/autoware_perception_rviz_plugin/package.xml +++ b/common/autoware_perception_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_perception_rviz_plugin - 1.0.0 + 0.38.0 Contains plugins to visualize object detection outputs Apex.AI, Inc. Taiki Tanaka diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst new file mode 100644 index 0000000000000..3aa6d4183543e --- /dev/null +++ b/common/autoware_point_types/CHANGELOG.rst @@ -0,0 +1,114 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_point_types +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* feat: migrating pointcloud types (`#6996 `_) + * feat: changed most of sensing to the new type + * chore: started applying changes to the perception stack + * feat: confirmed operation until centerpoint + * feat: reverted to the original implementation of pointpainting + * chore: forgot to push a header + * feat: also implemented the changes for the subsample filters that were out of scope before + * fix: some point type changes were missing from the latest merge from main + * chore: removed unused code, added comments, and brought back a removed publish + * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers + * feat: added memory layout checks + * chore: updated documentation regarding the point types + * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged + * fix: fixed compilation due to moving the utilities files to the base library + * chore: separated the utilities functions due to a dependency issue + * chore: forgot that perception also uses the filter class + * feature: adapted the undistortion tests to the new point type + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> +* chore: updated maintainers for the autoware_point_types package (`#7797 `_) +* docs(common): adding .pages file (`#7148 `_) + * docs(common): adding .pages file + * fix naming + * fix naming + * fix naming + * include main page plus explanation to autoware tools + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kenzo Lobos Tsunekawa, Yutaka Kondo, Zulfaqar Azmi + +0.26.0 (2024-04-03) +------------------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , 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 +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* 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 +* feat: add blockage diagnostics (`#461 `_) + * feat!: add blockage diagnostic + * fix: typo + * docs: add documentation + * ci(pre-commit): autofix + * fix: typo + * ci(pre-commit): autofix + * fix: typo + * chore: add adjustable param + * ci(pre-commit): autofix + * feat!: add blockage diagnostic + * fix: typo + * docs: add documentation + * ci(pre-commit): autofix + * fix: typo + * ci(pre-commit): autofix + * fix: typo + * chore: add adjustable param + * ci(pre-commit): autofix + * chore: rearrange header file + * chore: fix typo + * chore: rearrange header + * fix: revert accident change + * chore: fix typo + * docs: add limits + * chore: check overflow + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* 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 + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat: add point_types for wrapper (`#784 `_) (`#215 `_) + * add point_types + * Revert "add point_types" + This reverts commit 5810000cd1cbd876bc22372e2bb74ccaca06187b. + * create autoware_point_types pkg + * add include + * add cmath + * fix author + * fix bug + * define epsilon as argument + * add test + * remove unnamed namespace + * update test + * fix test name + * use std::max + * change comparison method + * remove unnencessary line + * fix test + * fix comparison method name + Co-authored-by: Taichi Higashide +* Contributors: Daisuke Nishimatsu, Kenji Miyake, Maxime CLEMENT, Takagi, Isamu, Vincent Richard, badai nguyen diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index ef19431d86514..8e9fb4fb51aa4 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -2,7 +2,7 @@ autoware_point_types - 0.1.0 + 0.38.0 The point types definition to use point_cloud_msg_wrapper David Wong Max Schmeller diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst new file mode 100644 index 0000000000000..359de11cb3104 --- /dev/null +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_polar_grid +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(polar_grid): add autoware prefix to polar_grid (`#8945 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml index 3b376b3a75185..f14776b145349 100644 --- a/common/autoware_polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -2,7 +2,7 @@ autoware_polar_grid - 0.1.0 + 0.38.0 The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..b2e26a8e0085e --- /dev/null +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package qp_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(qp_interface): fix unreadVariable (`#8349 `_) + * fix:unreadVariable + * fix:unreadVariable + * fix:unreadVariable + --------- +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) + * perf(velocity_smoother): use ProxQP for faster optimization + * consider max_iteration + * disable warm start + * fix test + --------- +* refactor(qp_interface): clean up the code (`#8029 `_) + * refactor qp_interface + * variable names: m_XXX -> XXX\_ + * update + * update + --------- +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) + * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- +* feat(qp_interface): support proxqp (`#3699 `_) + * feat(qp_interface): add proxqp interface + * update + --------- +* feat(qp_interface): add new package which will contain various qp solvers (`#3697 `_) +* Contributors: Takayuki Murooka diff --git a/common/qp_interface/CMakeLists.txt b/common/autoware_qp_interface/CMakeLists.txt similarity index 82% rename from common/qp_interface/CMakeLists.txt rename to common/autoware_qp_interface/CMakeLists.txt index 00b2847309e9e..d2f2d6347cb3d 100644 --- a/common/qp_interface/CMakeLists.txt +++ b/common/autoware_qp_interface/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(qp_interface) +project(autoware_qp_interface) find_package(autoware_cmake REQUIRED) autoware_package() @@ -20,10 +20,10 @@ set(QP_INTERFACE_LIB_SRC ) set(QP_INTERFACE_LIB_HEADERS - include/qp_interface/qp_interface.hpp - include/qp_interface/osqp_interface.hpp - include/qp_interface/osqp_csc_matrix_conv.hpp - include/qp_interface/proxqp_interface.hpp + include/autoware/qp_interface/qp_interface.hpp + include/autoware/qp_interface/osqp_interface.hpp + include/autoware/qp_interface/osqp_csc_matrix_conv.hpp + include/autoware/qp_interface/proxqp_interface.hpp ) ament_auto_add_library(${PROJECT_NAME} SHARED @@ -32,13 +32,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) -target_include_directories(qp_interface +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${OSQP_INCLUDE_DIR}" "${EIGEN3_INCLUDE_DIR}" ) -ament_target_dependencies(qp_interface +ament_target_dependencies(${PROJECT_NAME} Eigen3 osqp_vendor proxsuite diff --git a/common/qp_interface/design/qp_interface-design.md b/common/autoware_qp_interface/design/qp_interface-design.md similarity index 94% rename from common/qp_interface/design/qp_interface-design.md rename to common/autoware_qp_interface/design/qp_interface-design.md index 3843e5a742d1e..edc7fa9845206 100644 --- a/common/qp_interface/design/qp_interface-design.md +++ b/common/autoware_qp_interface/design/qp_interface-design.md @@ -1,6 +1,6 @@ # Interface for QP solvers -This is the design document for the `qp_interface` package. +This is the design document for the `autoware_qp_interface` package. ## Purpose / Use cases diff --git a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp similarity index 84% rename from common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp index 8ec7280cfc100..9575d9d18c69f 100644 --- a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ -#define QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ +#define AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ #include "osqp/glob_opts.h" @@ -21,7 +21,7 @@ #include -namespace autoware::common +namespace autoware::qp_interface { /// \brief Compressed-Column-Sparse Matrix struct CSC_Matrix @@ -41,6 +41,6 @@ CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat); /// \brief Print the given CSC matrix to the standard output void printCSCMatrix(const CSC_Matrix & csc_mat); -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ +#endif // AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ diff --git a/common/qp_interface/include/qp_interface/osqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp similarity index 94% rename from common/qp_interface/include/qp_interface/osqp_interface.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp index 55792beaaff11..a5777dd545e9f 100644 --- a/common/qp_interface/include/qp_interface/osqp_interface.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__OSQP_INTERFACE_HPP_ -#define QP_INTERFACE__OSQP_INTERFACE_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_ +#define AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_ +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" +#include "autoware/qp_interface/qp_interface.hpp" #include "osqp/osqp.h" -#include "qp_interface/osqp_csc_matrix_conv.hpp" -#include "qp_interface/qp_interface.hpp" #include #include #include #include -namespace autoware::common +namespace autoware::qp_interface { constexpr c_float OSQP_INF = 1e30; @@ -142,6 +142,6 @@ class OSQPInterface : public QPInterface std::vector optimizeImpl() override; }; -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__OSQP_INTERFACE_HPP_ +#endif // AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_ diff --git a/common/qp_interface/include/qp_interface/proxqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp similarity index 85% rename from common/qp_interface/include/qp_interface/proxqp_interface.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp index 775ba0fcc42b8..324da4b18c6fd 100644 --- a/common/qp_interface/include/qp_interface/proxqp_interface.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__PROXQP_INTERFACE_HPP_ -#define QP_INTERFACE__PROXQP_INTERFACE_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_ +#define AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_ -#include "qp_interface/qp_interface.hpp" +#include "autoware/qp_interface/qp_interface.hpp" #include #include @@ -25,7 +25,7 @@ #include #include -namespace autoware::common +namespace autoware::qp_interface { class ProxQPInterface : public QPInterface { @@ -52,6 +52,6 @@ class ProxQPInterface : public QPInterface std::vector optimizeImpl() override; }; -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__PROXQP_INTERFACE_HPP_ +#endif // AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_ diff --git a/common/qp_interface/include/qp_interface/qp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp similarity index 89% rename from common/qp_interface/include/qp_interface/qp_interface.hpp rename to common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp index 85e2d103cde7a..be3c598512bf6 100644 --- a/common/qp_interface/include/qp_interface/qp_interface.hpp +++ b/common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef QP_INTERFACE__QP_INTERFACE_HPP_ -#define QP_INTERFACE__QP_INTERFACE_HPP_ +#ifndef AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_ +#define AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_ #include @@ -21,7 +21,7 @@ #include #include -namespace autoware::common +namespace autoware::qp_interface { class QPInterface { @@ -56,6 +56,6 @@ class QPInterface std::optional variables_num_{std::nullopt}; std::optional constraints_num_{std::nullopt}; }; -} // namespace autoware::common +} // namespace autoware::qp_interface -#endif // QP_INTERFACE__QP_INTERFACE_HPP_ +#endif // AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_ diff --git a/common/qp_interface/package.xml b/common/autoware_qp_interface/package.xml similarity index 94% rename from common/qp_interface/package.xml rename to common/autoware_qp_interface/package.xml index 22cc3665ffaa0..43c9c6607bcaa 100644 --- a/common/qp_interface/package.xml +++ b/common/autoware_qp_interface/package.xml @@ -1,8 +1,8 @@ - qp_interface - 1.0.0 + autoware_qp_interface + 0.38.0 Interface for the QP solvers Takayuki Murooka Fumiya Watanabe diff --git a/common/qp_interface/src/osqp_csc_matrix_conv.cpp b/common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp similarity index 96% rename from common/qp_interface/src/osqp_csc_matrix_conv.cpp rename to common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp index 77a481f442000..15314a9e4a5fa 100644 --- a/common/qp_interface/src/osqp_csc_matrix_conv.cpp +++ b/common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/osqp_csc_matrix_conv.hpp" +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" #include #include @@ -21,7 +21,7 @@ #include #include -namespace autoware::common +namespace autoware::qp_interface { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -131,4 +131,4 @@ void printCSCMatrix(const CSC_Matrix & csc_mat) } std::cout << "]\n"; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/src/osqp_interface.cpp b/common/autoware_qp_interface/src/osqp_interface.cpp similarity index 98% rename from common/qp_interface/src/osqp_interface.cpp rename to common/autoware_qp_interface/src/osqp_interface.cpp index 377de8cf66a7a..b850036c0aebf 100644 --- a/common/qp_interface/src/osqp_interface.cpp +++ b/common/autoware_qp_interface/src/osqp_interface.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/osqp_interface.hpp" +#include "autoware/qp_interface/osqp_interface.hpp" -#include "qp_interface/osqp_csc_matrix_conv.hpp" +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" #include -namespace autoware::common +namespace autoware::qp_interface { OSQPInterface::OSQPInterface( const bool enable_warm_start, const int max_iteration, const c_float eps_abs, @@ -386,4 +386,4 @@ std::vector OSQPInterface::optimize( return result; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/src/proxqp_interface.cpp b/common/autoware_qp_interface/src/proxqp_interface.cpp similarity index 97% rename from common/qp_interface/src/proxqp_interface.cpp rename to common/autoware_qp_interface/src/proxqp_interface.cpp index d26543f907e62..ccfd74e70dace 100644 --- a/common/qp_interface/src/proxqp_interface.cpp +++ b/common/autoware_qp_interface/src/proxqp_interface.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/proxqp_interface.hpp" +#include "autoware/qp_interface/proxqp_interface.hpp" -namespace autoware::common +namespace autoware::qp_interface { using proxsuite::proxqp::QPSolverOutput; @@ -150,4 +150,4 @@ std::vector ProxQPInterface::optimizeImpl() } return result; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/src/qp_interface.cpp b/common/autoware_qp_interface/src/qp_interface.cpp similarity index 94% rename from common/qp_interface/src/qp_interface.cpp rename to common/autoware_qp_interface/src/qp_interface.cpp index afd26132d7769..f01e57772dc4f 100644 --- a/common/qp_interface/src/qp_interface.cpp +++ b/common/autoware_qp_interface/src/qp_interface.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "qp_interface/qp_interface.hpp" +#include "autoware/qp_interface/qp_interface.hpp" #include #include #include -namespace autoware::common +namespace autoware::qp_interface { void QPInterface::initializeProblem( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, @@ -67,4 +67,4 @@ std::vector QPInterface::optimize( return result; } -} // namespace autoware::common +} // namespace autoware::qp_interface diff --git a/common/qp_interface/test/test_csc_matrix_conv.cpp b/common/autoware_qp_interface/test/test_csc_matrix_conv.cpp similarity index 93% rename from common/qp_interface/test/test_csc_matrix_conv.cpp rename to common/autoware_qp_interface/test/test_csc_matrix_conv.cpp index a6bd5e3df0be1..1f377a1a24535 100644 --- a/common/qp_interface/test/test_csc_matrix_conv.cpp +++ b/common/autoware_qp_interface/test/test_csc_matrix_conv.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp" #include "gtest/gtest.h" -#include "qp_interface/osqp_csc_matrix_conv.hpp" #include @@ -23,8 +23,8 @@ TEST(TestCscMatrixConv, Nominal) { - using autoware::common::calCSCMatrix; - using autoware::common::CSC_Matrix; + using autoware::qp_interface::calCSCMatrix; + using autoware::qp_interface::CSC_Matrix; Eigen::MatrixXd rect1(1, 2); rect1 << 0.0, 1.0; @@ -117,8 +117,8 @@ TEST(TestCscMatrixConv, Nominal) } TEST(TestCscMatrixConv, Trapezoidal) { - using autoware::common::calCSCMatrixTrapezoidal; - using autoware::common::CSC_Matrix; + using autoware::qp_interface::calCSCMatrixTrapezoidal; + using autoware::qp_interface::CSC_Matrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd square2(3, 3); @@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal) } TEST(TestCscMatrixConv, Print) { - using autoware::common::calCSCMatrix; - using autoware::common::calCSCMatrixTrapezoidal; - using autoware::common::CSC_Matrix; - using autoware::common::printCSCMatrix; + using autoware::qp_interface::calCSCMatrix; + using autoware::qp_interface::calCSCMatrixTrapezoidal; + using autoware::qp_interface::CSC_Matrix; + using autoware::qp_interface::printCSCMatrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd rect1(1, 2); square1 << 1.0, 2.0, 2.0, 4.0; diff --git a/common/qp_interface/test/test_osqp_interface.cpp b/common/autoware_qp_interface/test/test_osqp_interface.cpp similarity index 87% rename from common/qp_interface/test/test_osqp_interface.cpp rename to common/autoware_qp_interface/test/test_osqp_interface.cpp index 4d0a88c50475c..873e5d501dc7d 100644 --- a/common/qp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_osqp_interface.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/qp_interface/osqp_interface.hpp" #include "gtest/gtest.h" -#include "qp_interface/osqp_interface.hpp" #include @@ -39,9 +39,9 @@ namespace TEST(TestOsqpInterface, BasicQp) { - using autoware::common::calCSCMatrix; - using autoware::common::calCSCMatrixTrapezoidal; - using autoware::common::CSC_Matrix; + using autoware::qp_interface::calCSCMatrix; + using autoware::qp_interface::calCSCMatrixTrapezoidal; + using autoware::qp_interface::CSC_Matrix; auto check_result = [](const auto & solution, const std::string & status, const int polish_status) { @@ -58,12 +58,12 @@ TEST(TestOsqpInterface, BasicQp) const Eigen::MatrixXd P = (Eigen::MatrixXd(2, 2) << 4, 1, 1, 2).finished(); const Eigen::MatrixXd A = (Eigen::MatrixXd(4, 2) << 1, 1, 1, 0, 0, 1, 0, 1).finished(); const std::vector q = {1.0, 1.0}; - const std::vector l = {1.0, 0.0, 0.0, -autoware::common::OSQP_INF}; - const std::vector u = {1.0, 0.7, 0.7, autoware::common::OSQP_INF}; + const std::vector l = {1.0, 0.0, 0.0, -autoware::qp_interface::OSQP_INF}; + const std::vector u = {1.0, 0.7, 0.7, autoware::qp_interface::OSQP_INF}; { // Define problem during optimization - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); const auto solution = osqp.QPInterface::optimize(P, A, q, l, u); const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); @@ -72,7 +72,7 @@ TEST(TestOsqpInterface, BasicQp) { // Define problem during initialization - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); const auto solution = osqp.QPInterface::optimize(P, A, q, l, u); const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); @@ -87,7 +87,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); osqp.QPInterface::optimize(P_ini, A_ini, q_ini, l_ini, u_ini); } @@ -95,7 +95,7 @@ TEST(TestOsqpInterface, BasicQp) // Define problem during initialization with csc matrix CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P); CSC_Matrix A_csc = calCSCMatrix(A); - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); const auto solution = osqp.optimize(P_csc, A_csc, q, l, u); const auto status = osqp.getStatus(); @@ -111,7 +111,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::OSQPInterface osqp(false, 4000, 1e-6); + autoware::qp_interface::OSQPInterface osqp(false, 4000, 1e-6); osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini); // Redefine problem before optimization @@ -132,7 +132,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::OSQPInterface osqp(true, 4000, 1e-6); // enable warm start + autoware::qp_interface::OSQPInterface osqp(true, 4000, 1e-6); // enable warm start osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini); // Redefine problem before optimization diff --git a/common/qp_interface/test/test_proxqp_interface.cpp b/common/autoware_qp_interface/test/test_proxqp_interface.cpp similarity index 92% rename from common/qp_interface/test/test_proxqp_interface.cpp rename to common/autoware_qp_interface/test/test_proxqp_interface.cpp index e9cb90ef5d442..5bf85b026478d 100644 --- a/common/qp_interface/test/test_proxqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_proxqp_interface.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/qp_interface/proxqp_interface.hpp" #include "gtest/gtest.h" -#include "qp_interface/proxqp_interface.hpp" #include @@ -57,7 +57,7 @@ TEST(TestProxqpInterface, BasicQp) { // Define problem during optimization - autoware::common::ProxQPInterface proxqp(false, 4000, 1e-9, 1e-9, false); + autoware::qp_interface::ProxQPInterface proxqp(false, 4000, 1e-9, 1e-9, false); const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); const auto status = proxqp.getStatus(); check_result(solution, status); @@ -65,7 +65,7 @@ TEST(TestProxqpInterface, BasicQp) { // Define problem during optimization with warm start - autoware::common::ProxQPInterface proxqp(true, 4000, 1e-9, 1e-9, false); + autoware::qp_interface::ProxQPInterface proxqp(true, 4000, 1e-9, 1e-9, false); { const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); const auto status = proxqp.getStatus(); diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst new file mode 100644 index 0000000000000..f0293aefdc69d --- /dev/null +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_signal_processing +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: fix Boost.Optional build error on Jazzy (`#7602 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kotaro Yoshimoto +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml index 18841347dab9f..952833d10c59a 100644 --- a/common/autoware_signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -2,7 +2,7 @@ autoware_signal_processing - 0.1.0 + 0.38.0 The signal processing package Takayuki Murooka Takamasa Horibe diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..b9600e7cb7f22 --- /dev/null +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -0,0 +1,102 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_test_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_test_utils): add parser for PredictedObjects (`#9176 `_) + feat(autoware_test_utils): add parser for predicted objects +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(autoware_test_utils): remove unnecessary cppcheck suppression (`#9165 `_) +* feat(autoware_test_utils): add parser for geometry_msgs and others (`#9167 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) + * add path with lane id parser + * refactor parse to use template + --------- +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* feat(test_utils): add simple path with lane id generator (`#9113 `_) + * add simple path with lane id generator + * chnage to explicit template + * fix + * add static cast + * remove header file + --------- +* fix(autoware_test_utils): missing ament_index_cpp dependency (`#8618 `_) +* fix(autoware_test_utils): fix unusedFunction (`#8857 `_) + fix:unusedFunction +* fix(autoware_test_utils): fix unusedFunction (`#8816 `_) + fix: unusedFunction +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) + * remove unused functions in route handler + * add docstring for function getShoulderLaneletsAtPose + * update test map to include shoulder lanelet + * add unit test for function getShoulderLaneletsAtPose + * add test case for getCenterLinePath to improve branch coverage + --------- +* feat(autoware_test_utils): add qos handler in pub/sub (`#7856 `_) + * feat: add qos handler in pub/sub + * style(pre-commit): autofix + * feat: update test_pub_msg function to not use setpublisher function + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(auoware_test_utils): add jump_clock interface (`#7638 `_) + * feat(auoware_test_utils): add jump_clock interface + * add comment + --------- +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) + * RT1-6230 feat(route_handler): add unit test for lane change related functions + * fix spell check + * fix spellcheck + --------- +* feat(autoware_test_utils): add autoware test manager (`#7597 `_) + * feat(detected_object_validation): add test + * move to autoware_test_utils + * remove perception + * update cmake + * style(pre-commit): autofix + * remove perception change + * add include + * refactored + * avoid using void and static_pointer_cast + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(autoware_test_utils): function to load paths from folder (`#7474 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) + * add flag to enable/disable loop check in getLaneletSequence functions + * implement function to get closest route lanelet based on previous closest lanelet + * refactor DefaultPlanner::plan function + * modify loop check logic in getLaneletSequenceUpTo function + * improve logic in isEgoOutOfRoute function + * fix format + * check if prev lanelet is a goal lanelet in getLaneletSequenceUpTo function + * separate function to update current route lanelet in planner manager + * rename function and add docstring + * modify functions extendNextLane and extendPrevLane to account for overlap + * refactor function getClosestRouteLaneletFromLanelet + * add route handler unit tests for overlapping route case + * fix function getClosestRouteLaneletFromLanelet + * format fix + * move test map to autoware_test_utils + --------- +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Nagi70, Ryuta Kambe, Takayuki Murooka, Tim Clephas, Yoshi Ri, Yutaka Kondo, Zulfaqar Azmi, kminoda, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_test_utils/CMakeLists.txt b/common/autoware_test_utils/CMakeLists.txt index 09d2a6b2efa7b..8bfa44f7bf0ba 100644 --- a/common/autoware_test_utils/CMakeLists.txt +++ b/common/autoware_test_utils/CMakeLists.txt @@ -5,14 +5,13 @@ find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(autoware_test_utils SHARED - src/autoware_test_utils.cpp) + src/autoware_test_utils.cpp + src/mock_data_parser.cpp +) -ament_auto_add_library(mock_data_parser SHARED - src/mock_data_parser.cpp) +ament_auto_add_executable(topic_snapshot_saver src/topic_snapshot_saver.cpp) -target_link_libraries(mock_data_parser - yaml-cpp -) +target_link_libraries(topic_snapshot_saver autoware_test_utils) if(BUILD_TESTING) ament_auto_add_gtest(test_autoware_test_utils @@ -26,4 +25,5 @@ ament_auto_package(INSTALL_TO_SHARE test_map test_data launch + rviz ) diff --git a/common/autoware_test_utils/README.md b/common/autoware_test_utils/README.md index 57e065c154c8f..54b67d279eaac 100644 --- a/common/autoware_test_utils/README.md +++ b/common/autoware_test_utils/README.md @@ -72,3 +72,35 @@ ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> s ### Autoware Planning Test Manager The goal of the [Autoware Planning Test Manager](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_test_manager/) is to test planning module nodes. The `PlanningInterfaceTestManager` class ([source code](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp)) creates wrapper functions based on the `test_utils` functions. + +### Generate test data for unit testing + +As presented in this [PR description](https://github.com/autowarefoundation/autoware.universe/pull/9207), the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map. + +```bash +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml +ros2 launch autoware_test_utils psim_intersection.launch.xml +``` + +It uses the autoware `sample_vehicle_description` and `sample_sensor_kit` by default, and `autoware_test_utils/config/test_vehicle_info.param.yaml` is exactly the same as that of `sample_vehicle_description`. If specified, `vehicle_model`/`sensor_model` argument is available. + +```bash +ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\} +``` + +The list and field names of the topics to be saved are specified in `config/sample_topic_snapshot.yaml`. + +```yaml +# setting +fields: + - name: self_odometry # this is the field name for this topic + type: Odometry # the abbreviated type name of this topic + topic: /localization/kinematic_state # the name of this topic + +# output +self_odometry: + - header: ... + ... +``` + +Each field can be parsed to ROS message type using the functions defined in `autoware_test_utils/mock_data_parser.hpp` diff --git a/common/autoware_test_utils/config/sample_topic_snapshot.yaml b/common/autoware_test_utils/config/sample_topic_snapshot.yaml new file mode 100644 index 0000000000000..8f6e0d4ca2627 --- /dev/null +++ b/common/autoware_test_utils/config/sample_topic_snapshot.yaml @@ -0,0 +1,26 @@ +format_version: 1 + +fields: + - name: self_odometry + type: Odometry # nav_msgs::msg::Odometry + topic: /localization/kinematic_state + + - name: self_acceleration + type: AccelWithCovarianceStamped # geometry_msgs::msg::AccelWithCovarianceStamped + topic: /localization/acceleration + + - name: operation_mode + type: OperationModeState # autoware_adapi_v1_msgs::msg::OperationModeState + topic: /system/operation_mode/state + + - name: route + type: LaneletRoute # autoware_planning_msgs::msg::LaneletRoute + topic: /planning/mission_planning/route + + - name: traffic_signal + type: TrafficLightGroupArray # autoware_perception_msgs::msg::TrafficLightGroupArray + topic: /perception/traffic_light_recognition/traffic_signals + + - name: dynamic_object + type: PredictedObjects # autoware_perception_msgs::msg::PredictedObjects + topic: /perception/object_recognition/objects diff --git a/common/autoware_test_utils/config/test_vehicle_info.param.yaml b/common/autoware_test_utils/config/test_vehicle_info.param.yaml index 8941b92b4e78e..185ecb9e50a7e 100644 --- a/common/autoware_test_utils/config/test_vehicle_info.param.yaml +++ b/common/autoware_test_utils/config/test_vehicle_info.param.yaml @@ -1,12 +1,13 @@ +# NOTE: this configuration is exactly the same as that of sample_vehicle_description /**: ros__parameters: - wheel_radius: 0.39 - wheel_width: 0.42 - wheel_base: 2.74 # between front wheel center and rear wheel center - wheel_tread: 1.63 # between left wheel center and right wheel center + wheel_radius: 0.383 # The radius of the wheel, primarily used for dead reckoning. + wheel_width: 0.235 # The lateral width of a wheel tire, primarily used for dead reckoning. + wheel_base: 2.79 # between front wheel center and rear wheel center + wheel_tread: 1.64 # between left wheel center and right wheel center front_overhang: 1.0 # between front wheel center and vehicle front - rear_overhang: 1.03 # between rear wheel center and vehicle rear - left_overhang: 0.1 # between left wheel center and vehicle left - right_overhang: 0.1 # between right wheel center and vehicle right + rear_overhang: 1.1 # between rear wheel center and vehicle rear + left_overhang: 0.128 # between left wheel center and vehicle left + right_overhang: 0.128 # between right wheel center and vehicle right vehicle_height: 2.5 max_steer_angle: 0.70 # [rad] diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index e87de2d15e75c..c760ba1c94b45 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ +#include #include #include @@ -35,9 +36,11 @@ #include +#include #include #include #include +#include #include #include #include @@ -622,6 +625,8 @@ class AutowareTestManager rclcpp::Node::SharedPtr test_node_; }; // class AutowareTestManager +std::optional resolve_pkg_share_uri(const std::string & uri_path); + } // namespace autoware::test_utils #endif // AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 714d6d6710b32..adce8176a2ade 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -16,9 +16,11 @@ #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ #include +#include #include #include +#include #include #include #include @@ -31,21 +33,29 @@ #include #include +#include #include +#include #include namespace autoware::test_utils { +using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjectKinematics; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; using autoware_perception_msgs::msg::Shape; +using autoware_perception_msgs::msg::TrafficLightElement; +using autoware_perception_msgs::msg::TrafficLightGroup; +using autoware_perception_msgs::msg::TrafficLightGroupArray; + using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; using builtin_interfaces::msg::Duration; +using builtin_interfaces::msg::Time; using geometry_msgs::msg::Accel; using geometry_msgs::msg::AccelWithCovariance; using geometry_msgs::msg::AccelWithCovarianceStamped; @@ -79,6 +89,9 @@ Header parse(const YAML::Node & node); template <> Duration parse(const YAML::Node & node); +template <> +Time parse(const YAML::Node & node); + template <> std::vector parse(const YAML::Node & node); @@ -142,6 +155,18 @@ PredictedObject parse(const YAML::Node & node); template <> PredictedObjects parse(const YAML::Node & node); +template <> +TrafficLightGroupArray parse(const YAML::Node & node); + +template <> +TrafficLightGroup parse(const YAML::Node & node); + +template <> +TrafficLightElement parse(const YAML::Node & node); + +template <> +OperationModeState parse(const YAML::Node & node); + /** * @brief Parses a YAML file and converts it into an object of type T. * @@ -160,6 +185,14 @@ LaneletRoute parse(const std::string & filename); template <> PathWithLaneId parse(const std::string & filename); + +template +auto create_const_shared_ptr(MessageType && payload) +{ + using UnqualifiedType = typename std::decay_t; + return std::make_shared(std::forward(payload)); +} + } // namespace autoware::test_utils #endif // AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ diff --git a/common/autoware_test_utils/launch/psim_intersection.launch.xml b/common/autoware_test_utils/launch/psim_intersection.launch.xml index 75322e0699d62..70ae619e67705 100644 --- a/common/autoware_test_utils/launch/psim_intersection.launch.xml +++ b/common/autoware_test_utils/launch/psim_intersection.launch.xml @@ -3,7 +3,7 @@ - + @@ -13,4 +13,9 @@ + + + + + diff --git a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml index 73cedd98647b7..0d61abef95d2c 100644 --- a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml +++ b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml @@ -3,7 +3,7 @@ - + @@ -13,4 +13,9 @@ + + + + + diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 40edd451f3cab..712a3569a658b 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -2,7 +2,7 @@ autoware_test_utils - 0.1.0 + 0.38.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe @@ -17,6 +17,7 @@ ament_index_cpp autoware_component_interface_specs + autoware_component_interface_utils autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -24,10 +25,10 @@ autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs - component_interface_utils lanelet2_io nav_msgs rclcpp + std_srvs tf2_msgs tf2_ros tier4_api_msgs diff --git a/common/autoware_test_utils/rviz/psim_test_map.rviz b/common/autoware_test_utils/rviz/psim_test_map.rviz new file mode 100644 index 0000000000000..022621885ed72 --- /dev/null +++ b/common/autoware_test_utils/rviz/psim_test_map.rviz @@ -0,0 +1,4565 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + Splitter Ratio: 0.557669460773468 + Tree Height: 225 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: rviz_plugins::SimulatedClockPanel + Name: SimulatedClockPanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + ars408_front_center: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Handle Angle Scale: 17 + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: 0 + Light Traffic Color: 255; 153; 153 + Name: SignalDisplay + Primary Color: 174; 174; 174 + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/pointcloud_map + Use Fixed Frame: true + Use rainbow: false + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + bus_stop_area: true + center_lane_line: false + center_line_arrows: false + curbstone: true + lane_start_bound: false + lanelet direction: true + lanelet_id: false + left_lane_bound: true + no_parking_area: true + parking_lots: true + parking_space: true + partitions: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: false + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: false + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/lidar/crop_box_filter/crop_box_polygon + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/initial_pose_with_covariance + Value: false + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose_with_covariance + Value: false + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: true + Enabled: true + Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Text Color: 194; 194; 194 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/path + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.4000000059604645 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/avoidance_by_lane_change + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/static_obstacle_avoidance + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_right + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_left + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/goal_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/start_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance_by_lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/static_obstacle_avoidance + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/start_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/goal_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Bound + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StaticObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DetectionArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StaticObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LeftLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RightLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneFollowing + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SideShift + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane + Value: false + Enabled: false + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StaticObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (GoalPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StartPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (DynamicObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance + Value: false + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false + Enabled: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SlowDownVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleVelocityLimiter + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner + Enabled: false + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: false + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + Value: true + Enabled: true + Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Resampled Reference Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: false + Width: 0.20000000298023224 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AEB) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: true + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Resampled Reference Trajectory: true + Stop Reason: true + Value: false + VirtualWall: + Value: true + VirtualWall (AEB): true + Debug: + Control: true + Localization: + "": true + Value: true + Map: true + Perception: + "": true + Value: true + Planning: + "": + "": true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + MissionDetailsDisplay: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicObstacleAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StaticObstacleAvoidance: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (AvoidanceByLC): true + Info (DynamicObstacleAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Info (StaticObstacleAvoidance): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + SignalDisplay: true + Value: true + VehicleModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.5 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: false + Name: Debug + Enabled: true + Global Options: + Background Color: 15; 20; 23 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Class: tier4_adapi_rviz_plugins::RouteTool + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz/routing/rough_goal + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: true + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 1 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: true + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 3 + W vehicle width: 1.7999999523162842 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: true + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + W vehicle width: 2.5 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + Z position: 0 + - Class: rviz_plugins/DeleteAllObjectsTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 939 + Hide Left Dock: false + Hide Right Dock: false + PointcloudOnCamera: + collapsed: false + QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + SimulatedClockPanel: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 34 diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index f62c47b67fda6..1e2c7b50912f6 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -312,4 +312,18 @@ PathWithLaneId loadPathWithLaneIdInYaml() return parse(yaml_path); } + +std::optional resolve_pkg_share_uri(const std::string & uri_path) +{ + std::smatch match; + std::regex pattern(R"(package://([^/]+)/(.+))"); + if (std::regex_match(uri_path, match, pattern)) { + const std::string pkg_name = ament_index_cpp::get_package_share_directory(match[1].str()); + const std::string resource_path = match[2].str(); + const auto path = std::filesystem::path(pkg_name) / std::filesystem::path(resource_path); + return std::filesystem::exists(path) ? std::make_optional(path) : std::nullopt; + } + return std::nullopt; +} + } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index b876f1312a3e6..d2c6de5c0a46f 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -44,6 +44,15 @@ Duration parse(const YAML::Node & node) return msg; } +template <> +Time parse(const YAML::Node & node) +{ + Time msg; + msg.sec = node["sec"].as(); + msg.nanosec = node["nanosec"].as(); + return msg; +} + template <> std::array parse(const YAML::Node & node) { @@ -321,6 +330,54 @@ PredictedObjects parse(const YAML::Node & node) return msg; } +template <> +TrafficLightElement parse(const YAML::Node & node) +{ + TrafficLightElement msg; + msg.color = node["color"].as(); + msg.shape = node["shape"].as(); + msg.status = node["status"].as(); + msg.confidence = node["confidence"].as(); + return msg; +} + +template <> +TrafficLightGroup parse(const YAML::Node & node) +{ + TrafficLightGroup msg; + msg.traffic_light_group_id = node["traffic_light_group_id"].as(); + for (const auto & element_node : node["elements"]) { + msg.elements.push_back(parse(element_node)); + } + return msg; +} + +template <> +TrafficLightGroupArray parse(const YAML::Node & node) +{ + TrafficLightGroupArray msg; + msg.stamp = parse