feat(path_optimizer): additional failure logging and failure mode handling #10276
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This was referenced Mar 17, 2025
| @@ -36,13 +22,21 @@ units: | |||
| - { type: link, link: /autoware/system } | |||
| - { type: link, link: /autoware/control/remote } | |||
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| - path: /autoware/modes/emergency_stop | |||
| - path: /autoware/modes/stop | |||
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| - { path: $(dirname)/control.yaml } | ||
| - { path: $(dirname)/localization.yaml } | ||
| - { path: $(dirname)/planning.yaml } | ||
| - { path: $(dirname)/map.yaml } | ||
| - { path: $(dirname)/perception.yaml } | ||
| - { path: $(dirname)/control.yaml } | ||
| - { path: $(dirname)/vehicle.yaml } | ||
| - { path: $(dirname)/planning.yaml } | ||
| - { path: $(dirname)/system.yaml } | ||
| - { path: $(dirname)/vehicle.yaml } |
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This was referenced Mar 18, 2025
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takayuki5168
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LGTM for diagnostics. Don't forget to also update the config in autoware_launch.
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LGTM for autoware_velocity_smoother.
(Checked that this PR is needed to build successfully)
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planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/conditional_timer.hpp
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Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10276 +/- ##
=======================================
Coverage 25.92% 25.93%
=======================================
Files 1382 1383 +1
Lines 106811 106835 +24
Branches 40907 40911 +4
=======================================
+ Hits 27691 27706 +15
- Misses 76416 76422 +6
- Partials 2704 2707 +3
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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Description
Returns the smoothed_points trajectory fed into MPT when the latter fails, triggers an emergency stop MRM after 3s.
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.